Loading...
Loading...

Go to the content (press return)

Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms

Author
Vaca, R.; Aranda, J.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
13th International Symposium on Advances in Robot Kinematics
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Latest advances in robot kinematics
First page
157
Last page
164
Publisher
Springer
DOI
https://doi.org/10.1007/978-94-007-4620-6_20 Open in new window
Repository
http://hdl.handle.net/2117/19513 Open in new window
URL
http://dx.doi.org/10.1007/978-94-007-4620-6_20 Open in new window
Abstract
The obstacles in Configuration Space of quadratically-solvable Gough-Stewart platforms, due to both kinematic singularities and collisions, can be uniformly represented by a Boolean combination of signs of 4×4 determinants involving the homogeneous coordinates of sets of four points. This Boolean combination induces a measure of distance to obstacles in Configuration Space from which a simplified Voronoi diagram can be derived. Contrary to what happens with standard Voronoi diagrams, this diagr...
Citation
Vaca, R.; Aranda, J.; Thomas, F. Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms. A: International Symposium on Advances in Robot Kinematics. "Latest advances in robot kinematics". Innsbruck: Springer, 2012, p. 157-164.
Keywords
Automation, Gough-Stewart platform, Path planning, Pure condition, Voronoi diagrams
Group of research
CREB - Biomedical Engineering Research Centre
GRINS - Intelligent Robots and Systems
KRD - Kinematics and Robot Design

Participants