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


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
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In