Sampling based motion planning with reachable volumes: Application to manipulators and closed chain systems

@article{McMahon2014SamplingBM,
  title={Sampling based motion planning with reachable volumes: Application to manipulators and closed chain systems},
  author={Troy McMahon and Shawna L. Thomas and Nancy M. Amato},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={3705-3712}
}
Reachable volumes are a geometric representation of the regions the joints of a robot can reach. They can be used to generate constraint satisfying samples for problems including complicated linkage robots (e.g. closed chains and graspers). They can also be used to assist robot operators and to help in robot design.We show that reachable volumes have an O(1… CONTINUE READING