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2016
Springer

Precise contact motion planning for deformable planar curved shapes

3 years 21 days ago
Precise contact motion planning for deformable planar curved shapes
We present a precise contact motion planning algorithm for a deformable robot in a planar environment with stationary obstacles. The robot and obstacles are both represented with C1 -continuous implicit or parametric curves. The robot is changing its shape using a single degree of freedom (via a one-parameter family of deformable curves). In order to reduce the dimensionality of the configuration space, geometrically constrained yet collision free contact motions are sought, that have K(= 2, 3) simultaneous tangential contact points between the robot and the obstacles. The K-contact motion analysis effectively reduces the degrees of freedom of the robot, which enables a more efficient motion planning. The geometric conditions for the K-contact motions can be formulated as a system of non-linear polynomial equations, which can be solved precisely using a multivariate equation solver. The solutions for K-contact motions are represented as curves in a 4-dimensional (x, y, θ, t) space,...
Yong-Joon Kim, Gershon Elber, Myung-Soo Kim
Added 30 Mar 2016
Updated 30 Mar 2016
Type Journal
Year 2016
Where CAD
Authors Yong-Joon Kim, Gershon Elber, Myung-Soo Kim
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