A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems

@inproceedings{Han2000AKP,
  title={A Kinematics-Based Probabilistic Roadmap Method for Closed Chain Systems},
  author={Li Han and Nancy M. Amato},
  year={2000}
}
In this paper we consider the motion planning problem for closed chain systems. We propose an extension of the prm methodology which uses the kinematics of the closed chain system to guide the generation and connection of closure con gurations. In particular, we break the closed chains into a set of open subchains, apply standard prm random sampling techniques and forward kinematics to one subset of the subchains, and then use inverse kinematics on the remaining subchains to enforce the closure… CONTINUE READING
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