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| Volume 26 Issue 5 - Publication Date: 1 May 2007 | |||||||||
| Motion Planning for a Class of Planar Closed-chain Manipulators | |||||||||
| N. Shvalb, M. Shoham Department of ME, Technion-Israel Institute of Technology, Israel, G. Liu Department of Computer Science, Stanford University, Stanford, CA, USA and J. C. Trinkle Department of Computer Science, Rensselaer Polytechnic, Institute, 110 8th St, Troy, NY 12180-3590, USA | |||||||||
| The paper reports studies on the motion planning problem for planar star-shaped manipulators. These manipulators are formed by joining k “legs” to a common point (like the thorax of an insect) and then fixing the “feet” to the ground. The result is a planar parallel manipulator with k - 1 independent closed loops. A topological analysis is used to understand the global structure of the configuration space so that the planning problem can be solved exactly. The worst-case complexity of the algorithm is O(k3N3), where N is the maximum number of links in a leg. Examples illustrating the method are given. | |||||||||
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