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Path planning using a Jacobian-based freespace generation algorithm

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3 Author(s)
Paden, B. ; Dept. of Mech. Eng., California Univ., Santa Barbara, CA, USA ; Mees, A. ; Fisher, M.

A simple and efficient algorithm is developed to generate a 2"-tree (generalized quad-tree) representation of the free configuration space for a manipulator moving in a workspace with obstacles. The algorithm is based on the existence of uniform bounds on the Jacobians relating the differential motions of points on the manipulator to differential joint motions. This representation can be searched to generate a collision-free path and optimized with dynamic constraints to produce an executable trajectory.

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989