2024-03-28T17:06:09Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/976322019-06-11T06:39:14Zcom_10261_106com_10261_4col_10261_1241
Vaca, Rubén
Aranda López, Juan
Thomas, Federico
2014-06-03T09:51:59Z
2014-06-03T09:51:59Z
2012
Latest Advances in Robot Kinematics: 157-164 (2012)
http://hdl.handle.net/10261/97632
10.1007/978-94-007-4620-6_20
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 diagram is no longer a strong deformation retract of free space but, as Canny proved in 1987, it is still complete for motion planning. Its main advantage is that it has lower algebraic complexity than standard Voronoi diagrams based on the Euclidean metric.
eng
openAccess
Path planning
Pure condition
Voronoi diagrams
Gough-Stewart platform
Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms
comunicación de congreso