Computer Science

Stratified deformation space and path planning for a planar closed chain with revolute joints

Document Type

Conference Paper

Abstract

Given a linkage belonging to any of several broad classes (both planar and spatial), we have defined parameters adapted to a stratification of its deformation space (the quotient space of its configuration space by the group of rigid motions) making that space "practically piecewise convex". This leads to great simplifications in motion planning for the linkage, because in our new parameters the loop closure constraints are exactly, not approximately, a set of linear inequalities. We illustrate the general construction in the case of planar nR loops (closed chains with revolute joints), where the deformation space (link collisions allowed) has one connected component or two, stratified by copies of a single convex polyhedron via proper boundary identification. In essence, our approach makes path planning for a planar nR loop essentially no more difficult than for an open chain. © 2008 Springer-Verlag Berlin Heidelberg.

Publication Title

Springer Tracts in Advanced Robotics

Publication Date

2008

Volume

47

First Page

235

Last Page

250

ISSN

1610-7438

ISBN

9783540684046

DOI

10.1007/978-3-540-68405-3_15

APA Citation

Han, L., Rudolph, L., Blumenthal, J., & Valodzin, I. (2008). Stratified deformation space and path planning for a planar closed chain with revolute joints. In Algorithmic Foundation of Robotics VII: Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics (pp. 235-250). Springer Berlin Heidelberg.

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