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RESEARCH PAPERS: Additional Technical Papers

Configuration Maps for Robot Path Planning in Two Dimensions

[+] Author and Article Information
W. E. Red, Hung-Viet Truong-Cao

Computers & Simulation Laboratory, Robotics and Productivity Laboratories, Texas A&M University, College Station, Texas

J. Dyn. Sys., Meas., Control 107(4), 292-298 (Dec 01, 1985) (7 pages) doi:10.1115/1.3140739 History: Received September 18, 1985; Online July 21, 2009

Abstract

Graphically simulated “configuration maps” are used to plan manipulator paths in two-dimensions. Configuration maps represent a transformation of the Cartesian workspace into the manipulator joint coordinates, identifying both the free space and the space occupied by obstacles. Visual examination of the configuration map allows simulation users to plan collision-free paths by maneuvering the manipulators “point” along a series of path line segments which connect starting and final manipulator configurations. A PUMA 600 revolute manipulator experimentally verifies one such path planned through a congested workspace.

Copyright © 1985 by ASME
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