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Abstract: Maximizing the use of dual-arm robotic systems requires the development of planning algorithms analogous to those available for single-arm operations. In this paper, the global properties of the configuration spaces of planar n-bar mechanisms (i.e., kinematic chains forming a single closed loop) are used to design a complete motion planning algorithm. Numerical experiments demonstrate the algorithm's superiority over a typical algorithm that uses only local geometric information. (Update)
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BibTeX entry: (Update)
@misc{ principles-motion,
author = "Intelligent Systems Principles",
title = "Motion Planning for Planar n-Bar Mechanisms with Revolute Joints J.C. Trinkle",
url = "citeseer.ist.psu.edu/751125.html" }
Citations (may not include all citations):625 Kluwer Academic Publishers (context) - Latombe, Planning - 1991
50 Kinematic Geometry of Mechanisms (context) - Hunt - 1978
10 the moduli spaces of polygons in the euclidean plane - Kapovich, Millson - 1995
5 The geometry of configuration spaces for closed chains in tw.. (context) - Trinkle, Milgram
5 The geometry of configuration spaces for closed chains in tw.. (context) - Milgram, Trinkle - 2001
3 Linear-time dynamics using lagrange multipliers (context) - Bara - 1996
2 Numerical methods for di#erential algebraic systems with app.. (context) - Potra - 1994
2 Mobility criteria of single loop nbar linkages (context) - Ting - 1989
1 bar kinematic chains and their proof (context) - Ting, Liu et al. - 1991
1 Computer Methods for Di#erential Equations and Di#erential A.. (context) - Ascher, Petzold - 1998
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