Complete Path Planning for Closed Kinematic Chains with Spherical Joints

@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}
}
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

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