Accession Number:

ADA183816

Title:

A Simple Motion Planning Algorithm for General Robot Manipulators,

Descriptive Note:

Corporate Author:

MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s):

• Lozano-Perez,Tomas

Report Date:

1986-06-01

Pagination or Media Count:

33.0

Abstract:

This paper presents a simple and efficient algorithm using configuration space, to plan collision-free motions for general robot manipulators. It describes an implementation of the algorithm for manipulators made up of revolute joints. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n - 1 dimensional slices, recursively built up from one dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles. Keywords Polygons Joint angles Paths Heuristic subsets. Author

Descriptors:

• *ALGORITHMS
• *MANIPULATORS
• *ROBOTS
• DEGREES OF FREEDOM
• MOTION
• PLANNING
• EFFICIENCY
• ANGLES
• THREE DIMENSIONAL
• PATHS

Subject Categories:

• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE