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Title: Method and apparatus for planning motions of robot manipulators

Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.
 [1];  [2]
  1. (4000 Camino De La Sierra, N.E., Albuquerque, NM 87111)
  2. (9036 Walter Bambrook, N.E., Albuquerque, NM 87122)
Issue Date:
OSTI Identifier:
Chen, Pang C. (4000 Camino De La Sierra, N.E., Albuquerque, NM 87111);Hwang, Yong K. (9036 Walter Bambrook, N.E., Albuquerque, NM 87122) SNL
Patent Number(s):
US 5544282
Contract Number:
Research Org:
Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA
Country of Publication:
United States
method; apparatus; planning; motions; robot; manipulators; automatically; rapidly; collision-free; path; cluttered; environment; exists; starting; configuration; manipulator; time; solution; motion; uniform; proportional; complexity; free path; robot manipulators; robot manipulator; planning motions; /700/701/