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RESEARCH PAPERS: Robotics and Related Mechanisms Papers

A Theory for the Articulation of Planar Robots: Part II—Motion Planning Procedure for Interference Avoidance

[+] Author and Article Information
L. Young, J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611

J. Mech., Trans., and Automation 109(1), 37-41 (Mar 01, 1987) (5 pages) doi:10.1115/1.3258782 History: Received July 01, 1986; Online November 19, 2009

Abstract

This paper presents a motion planning procedure for planar robots which provides the robots with abilities to change flexure (i.e., to articulate) and hence to avoid interference with other robots or with obstacles. The angular displacement for each of the joints will be determined using those motion planning procedures.

Copyright © 1987 by ASME
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