Pavel K. Lopatin and Artyom S. Yegorov
Using the Polynomial Approximation Algorithm in the Algorithm 2 for Manipulator&039;s Control in an Unknown Environment
3821 - 3826
2007
1
12
International Journal of Electrical and Computer Engineering
https://publications.waset.org/pdf/1009
https://publications.waset.org/vol/12
World Academy of Science, Engineering and Technology
The Algorithm 2 for a nlink manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm 2 guarantees the reaching of a target position in a finite number of steps. The Algorithm 2 is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the Algorithm2 implementation are given.
Open Science Index 12, 2007