NOTE: This item is not available outside the Texas A&M University network. Texas A&M affiliated users who are off campus can access the item through NetID and password authentication or by using TAMU VPN. Non-affiliated individuals should request a copy through their local library's interlibrary loan service.
Toward a faster mapping onto configuration space for obstacle avoidance in robotics
dc.contributor.advisor | Masory, Oren | |
dc.contributor.advisor | Mooring, Benjamin W. | |
dc.creator | Danos, James Charles | |
dc.date.accessioned | 2020-09-02T21:10:44Z | |
dc.date.available | 2020-09-02T21:10:44Z | |
dc.date.issued | 1987 | |
dc.identifier.uri | https://hdl.handle.net/1969.1/DISSERTATIONS-754058 | |
dc.description | Typescript (photocopy). | en |
dc.description.abstract | As robotic manipulators become used more widely in industry, there may be a desire to include them in more complicated environments. In such workspaces, obstacle avoidance will be an element of the hierarchical control system. Most of the algorithms proposed for obstacle avoidance require that the robot be represented as a point in a configuration space or C-Space. Obstacles must also be represented in the configuration space. In this work, a faster approach to the mapping of obstacles into configuration space is presented. In a plane, the scheme is based on constraining the manipulator to contact the boundary of the obstacle in the workspace. The solutions to the equations of constraint define closed curves which represent the boundary of the configuration space obstacle. The Jacobian of the mapping for a two degree-of-freedom revolute manipulator is evaluated for use in estimating the new mapping of a displaced obstacle. Finally, the proposed planar mapping is extended for obstacles in the workspace of a three degree-of-freedom spatial revolute manipulator. | en |
dc.format.extent | xii, 120 leaves | en |
dc.format.medium | electronic | en |
dc.format.mimetype | application/pdf | |
dc.language.iso | eng | |
dc.rights | This thesis was part of a retrospective digitization project authorized by the Texas A&M University Libraries. Copyright remains vested with the author(s). It is the user's responsibility to secure permission from the copyright holder(s) for re-use of the work beyond the provision of Fair Use. | en |
dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | |
dc.subject | Major mechanical engineering | en |
dc.subject.classification | 1987 Dissertation D188 | |
dc.subject.lcsh | Robots | en |
dc.subject.lcsh | Dynamics | en |
dc.subject.lcsh | Robots, Industrial | en |
dc.subject.lcsh | Manipulators (Mechanism) | en |
dc.subject.lcsh | Kinematics | en |
dc.title | Toward a faster mapping onto configuration space for obstacle avoidance in robotics | en |
dc.type | Thesis | en |
thesis.degree.discipline | Mechanical Engineering | en |
thesis.degree.grantor | Texas A&M University | en |
thesis.degree.name | Doctor of Philosophy | en |
thesis.degree.name | Ph. D. in Mechanical Engineering | en |
thesis.degree.level | Doctorial | en |
dc.contributor.committeeMember | Alexander, Richard M. | |
dc.contributor.committeeMember | Everett, Louis J. | |
dc.contributor.committeeMember | Griswold, Norman C. | |
dc.type.genre | dissertations | en |
dc.type.material | text | en |
dc.format.digitalOrigin | reformatted digital | en |
dc.publisher.digital | Texas A&M University. Libraries | |
dc.identifier.oclc | 18928500 |
Files in this item
This item appears in the following Collection(s)
-
Digitized Theses and Dissertations (1922–2004)
Texas A&M University Theses and Dissertations (1922–2004)
Request Open Access
This item and its contents are restricted. If this is your thesis or dissertation, you can make it open-access. This will allow all visitors to view the contents of the thesis.