Find-Path for a PUMA-Class Robot
Abstract
Collision free motions for a manipulator with revolute joints (e.g. a PUMA) are planned through an obstacle littered workspace by first describing free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upperarm. Freeways match volumes swept out by manipulator motions and can be inverted to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints determined by motion of the forearm.
Cite
Text
Brooks. "Find-Path for a PUMA-Class Robot." AAAI Conference on Artificial Intelligence, 1983.Markdown
[Brooks. "Find-Path for a PUMA-Class Robot." AAAI Conference on Artificial Intelligence, 1983.](https://mlanthology.org/aaai/1983/brooks1983aaai-find/)BibTeX
@inproceedings{brooks1983aaai-find,
title = {{Find-Path for a PUMA-Class Robot}},
author = {Brooks, Rodney A.},
booktitle = {AAAI Conference on Artificial Intelligence},
year = {1983},
pages = {40-44},
url = {https://mlanthology.org/aaai/1983/brooks1983aaai-find/}
}