Motion Planning For A Class Of Planar Closed-Chain Manipulators  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 26 no. 5 (May 2007), page 457-474.
Topik: Motion planning; planar mechanisms; topology; parallel mechanism; connected components
Fulltext: 457.pdf (693.4KB)

Isi artikel

The paper reports studies on the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs” to a common point (like the thorax of an insect) and then fixing the “feet” to the ground. The result is a planar parallel manipulator with k 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that the planning problem can be solved exactly. The worst-case complexity of the algorithm is Ok3N3, where N is the maximum number of links in a leg. Examples illustrating the method are given.

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