Complete path planning for closed kinematic chains with spherical joints

International Journal of Robotics Research

Volumn 21, Issue 9, 2002, Pages 773-789

  Trinkle, J C ^a   Milgram, R James ^b  

^a Rensselaer Polytechnic Institute   (United States)

^b STANFORD UNIVERSITY   (United States)

Author keywords

Algebraic geometry; Complete algorithm; Critical points; Differential topology; Exact path planning; Gradient flow

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; GEOMETRY; JOINTS (STRUCTURAL COMPONENTS); KINEMATICS; MOTION PLANNING;

SPHERICAL JOINTS;

ROBOTICS;

EID: 0036767834     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/0278364902021009119     Document Type: Article

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