Planning Collision Free Motions for Pick and Place Operations.

Abstract

An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes 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. (Author)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1983
Accession Number
ADA130448

Entities

People

  • Rodney A. Brooks

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Birds
  • Collision Avoidance
  • Collisions
  • Coordinate Systems
  • Equations
  • Joints
  • Manipulators
  • Military Research
  • Motion Planning
  • Observation
  • Orientation (Direction)
  • Rotation
  • Three Dimensional
  • Translations
  • Two Dimensional

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Molecular and Cellular Biochemistry
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers