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Planning collision-free movements of a robot: A systems theory approach*
Published online by Cambridge University Press: 09 March 2009
Summary
In the paper we present system-theoretic descriptions of the robot's kinematics models, in a discrete and discretized workspace. For those descriptions, the problem of planning collision-free trajectories of motion is stated and represented as a classical problem of optimizing the behaviour of dynamical system.
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- Copyright © Cambridge University Press 1988
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