Description
Excerpt from Robotics Research Technical Report: Analysis of the Motion-Planning Problem for a Simple Two-Link Planar Arm
Define the forearm PQ to be an oriented segment of length dz, with elbow P. A place ment of the arm is a pair where X is the position of P and 0 is the orientation of pq. The free room V is the open polygonally bounded region given by room interior less the obstacles. A real wall is a boundary segment of V. The workspace F is the largest Open star shaped region with center at O contained in V. F is clearly polygonally bounded and is cut out of V by segments each originating at an obstacle corner and directed away from 0. We refer to these segments as virtual walls; from now on ''wall'' will mean a real or-''virtual wall.
Clearly, P must stay within F since the line-segment OP (the upper arm) must stay within V.
About the Publisher
Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com
This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.
Define the forearm PQ to be an oriented segment of length dz, with elbow P. A place ment of the arm is a pair where X is the position of P and 0 is the orientation of pq. The free room V is the open polygonally bounded region given by room interior less the obstacles. A real wall is a boundary segment of V. The workspace F is the largest Open star shaped region with center at O contained in V. F is clearly polygonally bounded and is cut out of V by segments each originating at an obstacle corner and directed away from 0. We refer to these segments as virtual walls; from now on ''wall'' will mean a real or-''virtual wall.
Clearly, P must stay within F since the line-segment OP (the upper arm) must stay within V.
About the Publisher
Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com
This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.
Details
Publisher - Forgotten Books
Language - English
Hardback
Contributors
Author
Boris Aronov
Published Date -
ISBN - 9780267848911
Dimensions - 22.9 x 15.2 x 0.2 cm
Page Count - 41
Paperback
Contributors
Author
Boris Aronov
Published Date -
ISBN - 9781332086986
Dimensions - 22.9 x 15.2 x 0.3 cm
Page Count - 43
Payment & Security
Your payment information is processed securely. We do not store credit card details nor have access to your credit card information.