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Sensing Intelligence Motion - How Robots & Humans Move - Vladimir J. Lumelsky Part 10

Tham khảo tài liệu 'sensing intelligence motion - how robots & humans move - vladimir j. lumelsky part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 246 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS We observed that by studying the configuration space of each particular arm and making appropriate modifications in the basic sensor-based path planning procedure which take into account topological properties of the arm workspace and configuration space the basic algorithms developed in Chapter 3 for point mobile robots can be applied to planning the arm motion in space with arbitrary and previously unknown obstacles. Realization of these algorithms requires availability of sensing hardware that provides information about potential collision at every point of the arm body. We further learned in Section 5.2.5 that the developed algorithms can be extended to take advantage of more complex nontactile sensing using the ideas of algorithms with vision developed in Section 3.6. One may find it odd that each kinematic arm configuration in Figure 5.1 requires its own motion planning algorithm. While in general this is rather natural after all animals with different kinematics of their body have different gaits compare a cat and a kangaroo it would be indeed interesting to approach all these arms in a unified manner and attempt a unified motion planning strategy that would serve them all. In this section we will attempt a unified theory and a unified motion planning algorithm of planar arm manipulators. Two comments on what follows Looking ahead we will see in particular that the topology of configuration space and planning algorithms for all arm configurations depicted in Figure 5.1 are special cases of the RR revolute-revolute arm. The consequence of this is that the sensor-based motion planning algorithm for RR Arm is the universal 2-link-Arm Algorithm. While on the positive side this means that one algorithm can serve all cases of 2D arm manipulators it also means on the negative side that in cases of simpler arm configurations one would use a strategy that is more complex than the case in hand requires. The .