Highly Influenced

@article{Trinkle2002CompletePP, title={Complete Path Planning for Closed Kinematic Chains with Spherical Joints}, author={Jeffrey C. Trinkle and R. James Milgram}, journal={I. J. Robotics Res.}, year={2002}, volume={21}, pages={773-790} }

- Published 2002 in I. J. Robotics Res.
DOI:10.1177/0278364902021009119

We study the path planning problem, without obstacles, for closed kinematic chains with n links connected by spherical joints in space or revolute joints in the plane. The configuration space of such systems is a real algebraic variety whose structure is fully determined using techniques from algebraic geometry and differential topology. This structure is… CONTINUE READING

Citations per Year

Semantic Scholar estimates that this publication has **74** citations based on the available data.

See our **FAQ** for additional information.

### Presentations referencing similar topics