Đang chuẩn bị liên kết để tải về tài liệu:
Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 8

Tham khảo tài liệu 'sensing intelligence motion - how robots & humans move - vladimir j. lumelsky part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 186 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS robot around simple closed curves. The key property will then be deduced For a two-link arm no matter how complex the arm motion around an actual physical obstacle in W-space the corresponding virtual boundary in C-space presents a simple curve that is a curve with no self-intersections and double points. This will be shown to be true for each of the arms in Figure 5.1. With this property in hand by transforming the motion planning problem from W-space to C-space we will effectively make our problem similar to the one that was tackled in Chapter 3 for mobile robots. In fact on a certain level of generalization both problems look identical. The actual algorithms will differ due to a number of new issues that need to be worked out. Still understanding the Bug family algorithms from Chapter 3 will help one grasp the algorithms for robot arms that we are about to develop. We can now sketch the idea behind a motion planning algorithm for a planar robot arm manipulator. It is easier to describe the operation in C-space the actual operation in W-space proceeds accordingly. As one will notice the sketch sounds much like the algorithm Bug2 deviations and complexities will be added later. At the beginning the C-space arm image point moves along a simple M-line which is a desired path from point s to point T an equivalent of the straight-line M-line for the mobile robot Section 3.3 . During this motion when in W-space some point of the arm body meets an obstacle in C-space this corresponds to the image of M-line intersecting the obstacle s virtual boundary. The point of intersection is said to define a hit point Hj where j is the running index enumerating such points. We will show below that the virtual boundary is a simple curve a curve with no self-intersections or double points. This being so at the hit point the arm has a simple choice to walk along the virtual boundary in one or the opposite direction along the .