By Topic

Best estimates for the construction of robots in environments with obstacles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kolarov, K. ; Dept. of Mech. Eng., Stanford Univ., CA, USA ; Roth, B.

The authors consider the design of robots that work in environments with obstacles. The environment and the obstacles are fixed and the robot consists of telescoping links with two degrees of freedom each, one revolute and one prismatic. The objective is to estimate the lowest number of telescoping links that the robot should have so that it can reach all the points in the workspace that are not inside the obstacles. Several estimates are derived for the planar case using different polygonal shapes for the obstacles and the outside boundary of the environment. An algorithm for finding a suboptimal estimate for the number of links in the plane is outlined. Some results for the three-dimensional case with polyhedral obstacles are obtained

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992