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DOI:
Journal of Software:1993.4(5):11-16

基于拓扑法的多关节机械手无碰路径规划
李永成,张钹
(清华大学计算机系 北京 100084)
COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD
Li Yongcheng,Zhang Bo
()
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Received:February 11, 1991    Revised:June 23, 1991
> 中文摘要: 本文提出了一种基于拓扑法的多关节机械手无碰路径规划方法,文中重点讨论了三关节机械手路径规划时如何划分状态空间、判别各连通块之间的连通性以及路径搜索等问题,最后我们给出了一个实验结果以示该方法的有效性。
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Abstract:In this paper,a collision-free path planning for a multi-joint robotic arm based on topological method is presented. The problems of how to partition the Configuration Space,how to judge the connectivity between connected blocks and how to search for a path are mainly discussed,finally an experimental result is given to show the feasibility of the planning method.
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李永成,张钹.基于拓扑法的多关节机械手无碰路径规划.软件学报,1993,4(5):11-16

Li Yongcheng,Zhang Bo.COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD.Journal of Software,1993,4(5):11-16