The movements of multilink robot arms in two-dimensional regions (algorithms, complexity theory, robotics, motion planning, mover's problem) (original) (raw)

1985

Abstract

Problems related to the movements of multilink robot arms in two dimensions are considered. A robot arm is constructed from n(n > O) links, or straight-line segments, joined together end-to-end by freely rotating joints so that the links are allowed to cross each other. The author presents an algorithm, requiring O(n) computation time, which moves an arm in a circle to any reachable configuraion in O(n) moves. Also given is an O(n) computation time algorithm that computes all the regions reachable by the joints of such an arm.

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