| contributor author | T. S. Ku | |
| contributor author | B. Ravani | |
| date accessioned | 2017-05-08T23:30:34Z | |
| date available | 2017-05-08T23:30:34Z | |
| date copyright | December, 1989 | |
| date issued | 1989 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28109#570_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/105693 | |
| description abstract | This paper presents an efficient algorithm for guidance of a convex rigid body in-between nonconvex polygonal objects in a Computer-Aided Design (CAD) environment. A shrinking procedure is used that separates the kinematic from the shape constraints by reducing the problem to that of guidance of a line segment in an expanded environment. A slicing technique together with an algorithm for decomposition of the interface channel between the nonconvex objects is used to generate the motion program for the line segment. The results can be applied to model based guidance of mobile robots or automatic motion planning for robot manipulators. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Model Based Rigid Body Guidance in Presence of Nonconvex Geometric Constraints | |
| type | Journal Paper | |
| journal volume | 111 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3259039 | |
| journal fristpage | 570 | |
| journal lastpage | 580 | |
| identifier eissn | 1528-9001 | |
| keywords | Channels (Hydraulic engineering) | |
| keywords | Motion | |
| keywords | Shrinkage (Materials) | |
| keywords | Algorithms | |
| keywords | Computer-aided design | |
| keywords | Manipulators | |
| keywords | Mobile robots | |
| keywords | Path planning AND Shapes | |
| tree | Journal of Mechanical Design:;1989:;volume( 111 ):;issue: 004 | |
| contenttype | Fulltext | |