Path Tracking in Motion Planning | Zendy

María José González López | Zendy

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Path Tracking in Motion Planning

Author(s) -

María José González López

Publication year - 1993

Publication title -

the computer journal

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.319

H-Index - 64

eISSN - 1460-2067

pISSN - 0010-4620

DOI - 10.1093/comjnl/36.5.515

Subject(s) - motion planning , path (computing) , graph , kinematics , computer science , any angle path planning , inverse kinematics , computer vision , mathematics , artificial intelligence , algorithm , topology (electrical circuits) , robot , theoretical computer science , combinatorics , physics , classical mechanics , programming language

The inverse kinematics problem asks to determine the configurations of a robot manipulator that places the tip of the robot in a given position and orientation. The generalization of this problem, called path tracking or path following, is to determine if there existS a path of a manipulator in which the tip follows a given path. We study two different versions of this generalized problem: the tracking of the image of a path and the tracking of a path, giving to both of them an algorithmic answer. The main tool to obtain this solution is to conStruct a Cylindrical Algebraic Decomposition (CAD) of the set of admissible placements of the manipulator, such that it follows the projection onto the variables of the tip and is compatible with a triangulation of the image of the given path

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