JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
Print ISSN : 1340-8062
Motion Planning of an N-Joint Planar Mechanism : A Non-Heuristic Approach
Nicolai VOROBJOVRosario SINATRAEugenio GUGLIELMINO
Author information
JOURNALS FREE ACCESS

1997 Volume 40 Issue 1 Pages 112-119

Details
Abstract

Algorithms of a non-numerical and non-heuristic nature are developed and implemented in this work for the analysis of motion planning. In particular, the most complete analysis of the motion planning problem is performed for a 2-link planar mechanism and the problem is formulated in purely geometric terms. We describe an algorithm which determines the shortest path between any two points in the joint space. Moreover, the algorithm can be used to choose a path such that the variation of the joint angles along the path guarantees the fastest transference of an arm end-effector between two generic points, i.e., from A to B, in the workspace. Finally, the problem of planning the shortest path for a 2-link arm is considered in an environment containing obstacles in the form of points which the manipulator cannot cross.

Information related to the author
© The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top