S. W. E. Earles

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A new objective function is introduced to solve the underspecified inverse-kinematic problem of multiple-redundant manipulators. The objective function, Maximum Distance Criterion (MXDC), is based on the sum of the distances between key points along each of the manipulator kinematic structures. These points are called configuration control points (CCP), and(More)
,4bstr& Presented is a triangulation modelling algorithm for representing the working environment of a mobile robot such that planning a collision-free path on the corresponding road map ( a graph ) constructed is simplified. Both nodes and edges of the graph can be exactly calculated by expressions Fn(V,B) and Fe(V,B), where V and B represent the total(More)