Computing the topology of configuration space Fox, John J. ; Maciejewski, Anthony A. "This work was supported by the National Science Foundation under grant CDR 8803017 to the Engineering Research Center for Intelligent Manufacturing Systems." In this work, an algorithm is developed for generating the connectivity graph for a class of articulated manipulators. The algorithm is based upon the ability to determine whether two distinct obstacles in configuration space intersect. The efficiency of the test which is developed lies in the ability to determine the intersection relation by evaluating the curves which describe the configuration space obstacles at only a small number of points. Colorado State University. Libraries 1992 text ; image application/pdf ECEaam00067.pdf FACFECEN100067ARTI eng c1992 IEEE
Computing the topology of configuration space
Fox, John J. ; Maciejewski, Anthony A.
"This work was supported by the National Science Foundation under grant CDR 8803017 to the Engineering Research Center for Intelligent Manufacturing Systems."
In this work, an algorithm is developed for generating the connectivity graph for a class of articulated manipulators. The algorithm is based upon the ability to determine whether two distinct obstacles in configuration space intersect. The efficiency of the test which is developed lies in the ability to determine the intersection relation by evaluating the curves which describe the configuration space obstacles at only a small number of points.
Colorado State University. Libraries
1992
text ; image
application/pdf
ECEaam00067.pdf
FACFECEN100067ARTI
eng
c1992 IEEE