{"title":"利用构型空间拓扑进行实时多机械手路径规划","authors":"J. Fox, A. A. Maciejewski","doi":"10.1109/IROS.1994.407361","DOIUrl":null,"url":null,"abstract":"This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.<<ETX>>","PeriodicalId":437805,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Utilizing the topology of configuration space in real-time multiple manipulator path planning\",\"authors\":\"J. Fox, A. A. Maciejewski\",\"doi\":\"10.1109/IROS.1994.407361\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.<<ETX>>\",\"PeriodicalId\":437805,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-09-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1994.407361\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1994.407361","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Utilizing the topology of configuration space in real-time multiple manipulator path planning
This paper provides a set of algorithms which allow qualitative information regarding the connectivity of configuration space to be quickly established. A mechanism is presented which utilizes these results to determine the effects of the motions of one manipulator on the configuration space of the other. These algorithms are then used as a basis for a simple planner which is capable of rapidly computing collision-free paths for multiple SCARA manipulators operating within overlapping workspaces.<>
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