Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint

@article{Lynch2000CollisionFreeTP,
  title={Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint},
  author={Kevin M. Lynch and Naoji Shiroma and Hirohiko Arai and Kazuo Tanie},
  journal={I. J. Robotics Res.},
  year={2000},
  volume={19},
  pages={1171-1184}
}
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in that they can be followed at higher speeds. In this paper we describe a computationally efficient… CONTINUE READING

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