A manipulator control in an unknown environment

International Workshop "Advanced Technologies in Material Science, Mechanical and Automation Engineering – MIP: Engineering – 2019"

材料科学;机械制造;原子能学

Lopatin, Pavel^1

Department of Informatics and Computing Techniques, Reshetnev Siberian State University of Science and Technology, Krasnoyarskiy rabochiy av. 31, Krasnoyarsk

660037, Russia^1

关键词: Continuous spaces;    Finite number;    Manipulator control;    N-link manipulators;    Static obstacles;    Target configurations;    Unknown environments;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/537/4/042079/pdf
DOI  :  10.1088/1757-899X/537/4/042079

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

An algorithm for a n-link manipulator movement amidst unknown static obstacles in a continuous space is presented. Given theorem stating that if the manipulator moves according to the algorithm will be discovered in a finite number of steps whether a given target configuration is reachable or not. The number, shapes and dispositions of obstacles may be arbitrary.