Continuous motion planning in unknown environment for a 3D cartesian robot arm

@inproceedings{Lumelsky1986ContinuousMP,
  title={Continuous motion planning in unknown environment for a 3D cartesian robot arm},
  author={Vladimir J. Lumelsky},
  booktitle={ICRA},
  year={1986}
}
The approach (called Continuous Path Planning, or CPP) developed in [1,10] for non-heuristic path planning for a point automaton or various planar robot arms moving in an environment with unknown obstacles, is extended here on a three-dimensional (3D) Cartesian arm. The task is to move the arm endpoint from the starting to a target position. The arm body is assumed to be capable of "feeling" a contact (physical or at a distance) with an obstacle. With such local information, the convergence to… CONTINUE READING

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