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 | |
| Publication status | Published - 1991 Jan 1 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
Cite this
}
Obstacle avoidance via articulation. / Choi, Yong J.; Crane, Carl D.; Matthew, Gary K.
In: Journal of Robotic Systems, Vol. 8, No. 4, 01.01.1991, p. 465-484.Research output: Contribution to journal › Article
TY - JOUR
T1 - Obstacle avoidance via articulation
AU - Choi, Yong J.
AU - Crane, Carl D.
AU - Matthew, Gary K.
PY - 1991/1/1
Y1 - 1991/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0026202853&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0026202853&partnerID=8YFLogxK
U2 - 10.1002/rob.4620080404
DO - 10.1002/rob.4620080404
M3 - Article
VL - 8
SP - 465
EP - 484
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 4
ER -