• Corpus ID: 11427096

Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain

  title={Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain},
  author={Yong Koo Hwang},
  • Y. Hwang
  • Published 1 March 1996
  • Computer Science
This paper presents a set of motion planners for an exploration vehicle on a simulated rugged terrain. The vehicle has four wheels for its movement and a robotic arm mounted on the vehicle for object manipulation. Given a target point to reach with the hand of the arm, our planners first compute a path for the vehicle to the vicinity of the target, then compute an optimal vehicle position from which the arm can reach the target point, and then plans a path for the arm to reach the target. The… 
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