Motion planning for a class of planar closed-chain manipulators

Guanfeng Liu; J. C. Trinkle; N. Shvalb

doi:10.1109/ROBOT.2006.1641173

Motion planning for a class of planar closed-chain manipulators

Guanfeng Liu, J. C. Trinkle, N. Shvalb

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

4 Citations (Scopus)

Abstract

We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k "legs" to a common point (like the thorax of an insect) and then fixing the "feet" to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k3 N3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Place of Publication	Piscataway, NJ
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	133-138
Number of pages	6
ISBN (Print)	9780780395060
DOIs	https://doi.org/10.1109/ROBOT.2006.1641173
Publication status	Published - 2006
Externally published	Yes
Event	IEEE International Conference on Robotics and Automation - Orlando, FL Duration: 15 May 2006 → 19 May 2006

Conference

Conference	IEEE International Conference on Robotics and Automation
City	Orlando, FL
Period	15/05/06 → 19/05/06

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10.1109/ROBOT.2006.1641173

Cite this

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title = "Motion planning for a class of planar closed-chain manipulators",

abstract = "We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k {"}legs{"} to a common point (like the thorax of an insect) and then fixing the {"}feet{"} to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k3 N3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.",

author = "Guanfeng Liu and Trinkle, {J. C.} and N. Shvalb",

year = "2006",

doi = "10.1109/ROBOT.2006.1641173",

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pages = "133--138",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

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note = "IEEE International Conference on Robotics and Automation ; Conference date: 15-05-2006 Through 19-05-2006",

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Liu, G, Trinkle, JC & Shvalb, N 2006, Motion planning for a class of planar closed-chain manipulators. in Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, pp. 133-138, IEEE International Conference on Robotics and Automation, Orlando, FL, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1641173

Motion planning for a class of planar closed-chain manipulators. / Liu, Guanfeng; Trinkle, J. C.; Shvalb, N.
Proceedings - IEEE International Conference on Robotics and Automation. Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2006. p. 133-138.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

TY - GEN

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AU - Liu, Guanfeng

AU - Trinkle, J. C.

AU - Shvalb, N.

PY - 2006

Y1 - 2006

N2 - We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k "legs" to a common point (like the thorax of an insect) and then fixing the "feet" to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k3 N3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.

AB - We study the motion problem for planar star-shaped manipulators. These manipulators are formed by joining k "legs" to a common point (like the thorax of an insect) and then fixing the "feet" to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that planning problem can be solved exactly. The worst-case complexity of our algorithm is O(k3 N3), where N is the maximum number of links in a leg. A simple example illustrating our method is given.

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DO - 10.1109/ROBOT.2006.1641173

M3 - Conference proceeding contribution

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers (IEEE)

CY - Piscataway, NJ

T2 - IEEE International Conference on Robotics and Automation

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ER -

Motion planning for a class of planar closed-chain manipulators

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