rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Toward a faster mapping onto configuration space for obstacle avoidance in robotics
  name:
    name part: Danos, James Charles.
    role:
      role term: creator
  name:
    name part: Alexander, Richard M.
    role:
      role term: degree committee member.
  name:
    name part: Everett, Louis J.
    role:
      role term: degree committee member.
  name:
    name part: Griswold, Norman C.
    role:
      role term: degree committee member.
  name:
    name part: Masory, Oren
    role:
      role term: degree supervisor.
  name:
    name part: Mooring, Benjamin W.
    role:
      role term: degree supervisor.
  name:
    name part: Texas A & M University
    role:
      role term: degree granting institution.
  type of resource: text
  genre: bibliography
  genre: Academic theses
  origin info:
    place:
      place term: xx
    date issued: 1987
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: print
    extent: xii, 120 leaves : illustrations ; 29 cm
  abstract: As robotic manipulators become used more widely in industry, there may be a desire to include them in more complicated environments. In such workspaces, obstacle avoidance will be an element of the hierarchical control system. Most of the algorithms proposed for obstacle avoidance require that the robot be represented as a point in a configuration space or C-Space. Obstacles must also be represented in the configuration space. In this work, a faster approach to the mapping of obstacles into configuration space is presented. In a plane, the scheme is based on constraining the manipulator to contact the boundary of the obstacle in the workspace. The solutions to the equations of constraint define closed curves which represent the boundary of the configuration space obstacle. The Jacobian of the mapping for a two degree-of-freedom revolute manipulator is evaluated for use in estimating the new mapping of a displaced obstacle. Finally, the proposed planar mapping is extended for obstacles in the workspace of a three degree-of-freedom spatial revolute manipulator.
  note: Typescript (photocopy).
  note: Vita.
  note: Ph. D. in Mechanical Engineering Texas A & M University 1987
  note: Includes bibliographical references (leaves 108-109).
  subject:
    topic: Kinematics
  subject:
    topic: Manipulators (Mechanism)
  subject:
    topic: Robots, Industrial
  subject:
    topic: Robots
    topic: Dynamics
  subject:
    topic: Major mechanical engineering
  identifier: http://proxy.library.tamu.edu/login
  identifier: https://hdl.handle.net/1969.1/DISSERTATIONS-754058
  related item:
    location:
      url: http://proxy.library.tamu.edu/login
  related item:
    location:
      url: https://hdl.handle.net/1969.1/DISSERTATIONS-754058
  record info:
    record content source: TXA
    record creation date: 881220
    record change date: 20220104090342.0
    record identifier: in00000741211
    language of cataloging:
      language term: eng