スタンフォード型マニピュレータの障害物回避動作計画のための関節変数空間における物体のソリッドモデル表現法

概要

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On the problem of robot path planning using a configuration space approach, since boundaries of obstacles in the configuration space are very complex, it is difficult to construct those boundaries by analytic methods. Therefore, most of the approach to find a safe path are using search strategies, for examples, the configuration space is devided into cells and interferences are checked in each cell. But for those search strategies, it is difficult to determine the existence of the safe paths. This paper describes the method that represents the obstacles as a CSG/B-Reps dual solid model in the configuration space, by deriving the boundaries of obstacles in the configuration space in an analytical way. Using that solid model, an existence of the safe paths is determined, and if so, one of the safe paths is also generated.
社団法人精密工学会の論文
1993-02-05