BFA(Backtrack Free path planning Algorithm)の3次元作業空間向け実装と多腕マニピュレータへの応用
作者： Tomonari Murata , Shinsuke Tamura , Masayuki Kawai
DOI: 10.1541/IEEJEISS.131.1059
关键词:
摘要: BFA (Backtrack Free path planning Algorithm) has been implemented for calculating paths of manipulators behaving in 3-dimensional work spaces. In the implementation, a method to avoid collisions between links also proposed. This paper discusses an approach extending plannings cooperating multi manipulators. approach, multiple are considered as single composite one with many links. Simulation results demonstrated that enabled efficient generation both and The algorithm is backtrack free resolution complete. Computation volume proportional total number does not change environments where behave.
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