Continuous motion planning in unknown environment for a 3D cartesian robot arm
- 1 January 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 1050-1055
- https://doi.org/10.1109/robot.1986.1087621
Abstract
The approach (called Continuous Path Planning, or CPP) developed in [1,10] for non-heuristic path planning for a point automaton or various planar robot arms moving in an environment with unknown obstacles, is extended here on a three-dimensional (3D) cartesian arm. The task is to move the arm endpoint from the starting to a target position. The arm body is assumed to be capable of "feeling" a contact (physical or at a distance) with an obstacle. With such local information, the convergence to a global goal can be assured. No constraints are imposed on the shape of the obstacles.Keywords
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