New algorithms for multilink robot arms (Q1079385)
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scientific article; zbMATH DE number 3963231
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| English | New algorithms for multilink robot arms |
scientific article; zbMATH DE number 3963231 |
Statements
New algorithms for multilink robot arms (English)
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1986
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Problems related to the movement of n-link robot arms in two dimensions are considered. We present an algorithm, requiring O(n) computation time, which moves an arm confined in a circular region to any reachable configuration in O(n) moves. Also given is an O(n) computation time algorithm that computes all the regions reachable by the joints of such an arm. We finally show how to plan motion involving the minimum number of moves for an arm in the obstacle-free plane in \(O(n^ 3)\) computational steps.
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motion planning
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n-link robot arms
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circular region
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configuration
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minimum number of moves
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obstacle-free plane
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0.8640165328979492
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0.8342572450637817
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0.8316327929496765
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0.8229098320007324
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0.7992453575134277
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