Stability cells of frictionless rigid body systems /
Abstract: "Dexterous manipulation planning is the act of determining the joint trajectories for a system of cooperating manipulators which can effect a desired change of position and orientation of a movable workpiece. In this paper, we define stability cells which are subsets of configurati...
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| Other Authors: | , |
| Format: | Book |
| Language: | English |
| Published: |
College Station, Tex. :
Texas A & M University, Computer Science Dept.,
[1992]
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| Series: | Technical report (Texas A & M University. Computer Science Department) ;
92-030. |
| Subjects: |
| Summary: | Abstract: "Dexterous manipulation planning is the act of determining the joint trajectories for a system of cooperating manipulators which can effect a desired change of position and orientation of a movable workpiece. In this paper, we define stability cells which are subsets of configuration space for which a movable, frictionless workpiece is guaranteed to be stable. These cells could be used in cell-decomposition- type planning algorithms to generate joint trajectories (both position and effort trajectories) which, if executed, would drive the system to its goal configuration. Since the S-cells can be generated independently of one another, they would be well-suited for use in planning algorithms implemented on shared-memory, parallel computers." |
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| Item Description: | "November 1992." |
| Physical Description: | 34 leaves : illustrations ; 28 cm. |
| Bibliography: | Includes bibliographical references. |