書誌事項
- タイトル別名
-
- Solid Modeling of C-Space Obstacles to Find the Safe Path for Stanford Type Manipulators.
- スタンフォードガタ マニピュレータ ノ ショウガイブツ カイヒ ドウサ ケイカ
この論文をさがす
抄録
On the problem of robot path planning using a configuration space approach, since boundaries of obstacles in the configuration space are very complex, it is difficult to construct those boundaries by analytic methods. Therefore, most of the approach to find a safe path are using search strategies, for examples, the configuration space is devided into cells and interferences are checked in each cell. But for those search strategies, it is difficult to determine the existence of the safe paths. This paper describes the method that represents the obstacles as a CSG/B-Reps dual solid model in the configuration space, by deriving the boundaries of obstacles in the configuration space in an analytical way. Using that solid model, an existence of the safe paths is determined, and if so, one of the safe paths is also generated.
収録刊行物
-
- 精密工学会誌
-
精密工学会誌 59 (2), 245-251, 1993
公益社団法人 精密工学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001204765887872
-
- NII論文ID
- 110001371286
-
- NII書誌ID
- AN1003250X
-
- ISSN
- 1882675X
- 09120289
-
- NDL書誌ID
- 3803331
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可