Computation of robot configuration and workspaces via the Fourier transform on the discrete-motion group

Journal Article · Tue Jun 01 00:00:00 EDT 1999 · International Journal of Robotics Research

DOI:https://doi.org/10.1177/02783649922066420· OSTI ID:354266

Kyatkin, A B; Chirikjian, G S ^[1]

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1. Johns Hopkins Univ., Baltimore, MD (United States). Dept. of Mechanical Engineering

The authors apply the Fourier transform on the discrete-motion group to the problem of computing the configuration-space obstacles of mobile robots which move among static obstacles, the problem of finding the workspace density of binary manipulators with many actuators, and the problem of determining workspace boundaries of manipulators with continuous-motion actuators. They develop and implement Fourier transforms for the discrete-motion group of the plane. These transforms allow them to apply fast Fourier transform methods to the computation of convolution-like integrals that arise in robot kinematics and motion planning. The results of the implementation are discussed for particular examples.

• OSTI ID: 354266
• Journal Information: International Journal of Robotics Research, Vol. 18, Issue 6; Other Information: PBD: Jun 1999
• Country of Publication: United States
• Language: English

Related Subjects

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION
ROBOTS
CONTROL THEORY
FOURIER TRANSFORMATION
MOTION
ACTUATORS
MANIPULATORS