Robot Path Planning in Three-Dimensions Using the Direct Subspace

[+] Author and Article Information
W. E. Red

Department of Mechanical Engineering, Brigham Young University, Provo, Utah

H. V. Troung-Cao

ILC Space Systems, Houston, Texas

K. H. Kim

Brigham Young University, Provo, Utah

J. Dyn. Sys., Meas., Control 109(3), 238-244 (Sep 01, 1987) (7 pages) doi:10.1115/1.3143851 History: Received March 01, 1986; Online July 21, 2009


An efficient subspace approach is used to find collision-free paths in congested workspaces for a general class of robots having revolute and/or prismatic joints. A three-dimensional joint space is formed by mapping the workspace obstacles represented by polyhedral elements into the robot’s primary degrees-of-freedom comprising the first three robot links, also modeled by polyhedral elements. In this approach the secondary degrees-of-freedom (>3), including objects grasped by the robot end-effector, are bounded by a box attached to the distal primary link. The joint space obstacles represent forbidden space that limits the allowable robot configurations. Paths are then planned on a two-dimensional direct subspace of the joint space using graphics cursor input. Methods of iteration elimination are used to reduce the computational time required to transform obstacles into the joint space.

Copyright © 1987 by ASME
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