Trajectory Generation and Obstacle Avoidance
- 1 December 1987
- journal article
- Published by Oxford University Press (OUP) in IMA Journal of Mathematical Control and Information
- Vol. 4 (4) , 293-300
- https://doi.org/10.1093/imamci/4.4.293
Abstract
We use methods from algebraic topology to study the problem of cartesian trajectory generation in roboties. We find that cartesian trajectory generation may be impossible, or at best irregular, or that singularities appear, unless the joint space and workspace of the robot can be matched sufficiently well.Keywords
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