Obstacle avoidance via articulation

Yong J. Choi; Carl D. Crane; Gary K. Matthew

doi:10.1002/rob.4620080404

Obstacle avoidance via articulation

Yong J. Choi, Carl D. Crane, Gary K. Matthew

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This article presents a practical implementation of the theory for articulation of spatial robots such as the PUMA and TRS type robots. The “Blueprint Algorithm” is introduced as a simple rule‐based planning algorithm in which the geometry of interference takes on the role of a basis in a collision‐free path planning process amongst obstacles. This implementation presents a novel idea of “Machine Intelligence Via Robot Geometry” which utilizes robot attributes such as workspace and dexterity.

Original language	English
Pages (from-to)	465-484
Number of pages	20
Journal	Journal of Robotic Systems
Volume	8
Issue number	4
DOIs	https://doi.org/10.1002/rob.4620080404
Publication status	Published - 1991 Aug

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.1002/rob.4620080404

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abstract = "This article presents a practical implementation of the theory for articulation of spatial robots such as the PUMA and TRS type robots. The “Blueprint Algorithm” is introduced as a simple rule‐based planning algorithm in which the geometry of interference takes on the role of a basis in a collision‐free path planning process amongst obstacles. This implementation presents a novel idea of “Machine Intelligence Via Robot Geometry” which utilizes robot attributes such as workspace and dexterity.",

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