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ICRA
2006
IEEE

Motion Planning for a Class of Planar Closed-chain Manipulators

9 years 3 months ago
Motion Planning for a Class of Planar Closed-chain Manipulators
— We study the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs” to a common point (like the thorax of an insect) and then fixing the “feet” to the ground. The result is a planar parallel manipulator with k − 1 independent closed loops. A topological analysis is used to understand the global structure the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k3 N3 ), where N is the maximum number of links in a leg. Examples illustrating our method are given.
Guanfeng Liu, Jeffrey C. Trinkle, N. Shvalb
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Guanfeng Liu, Jeffrey C. Trinkle, N. Shvalb
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