Accession Number : ADA096118


Title :   Automatic Planning of Manipulator Transfer Movements.


Descriptive Note : Memorandum rept.,


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB


Personal Author(s) : Lozano-Perez,Tomas


Full Text : http://www.dtic.mil/dtic/tr/fulltext/u2/a096118.pdf


Report Date : Dec 1980


Pagination or Media Count : 56


Abstract : This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and place it at some destination. This paper presents algorithms for planning manipulator paths that avoid collisions with objects in the workspace and for choosing safe grasp points on objects. These algorithms allow planning transfer movements for cartesian manipulators. The approach is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision. (Author)


Descriptors :   *COMPUTER APPLICATIONS , *COLLISION AVOIDANCE , *MANIPULATORS , ALGORITHMS , CONTROL SYSTEMS , THREE DIMENSIONAL , FEEDBACK , HEURISTIC METHODS , PATTERN RECOGNITION , ARTIFICIAL INTELLIGENCE


Subject Categories : Machinery and Tools


Distribution Statement : APPROVED FOR PUBLIC RELEASE