2024-03-28T15:49:53Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/976322019-06-11T06:39:14Zcom_10261_106com_10261_4col_10261_1241
Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms
Vaca, Rubén
Aranda López, Juan
Thomas, Federico
Path planning
Pure condition
Voronoi diagrams
Gough-Stewart platform
Presentado al 13th International Symposium on Advances in Robot Kinematics (ARK) celebrado en Austria del 24 al 28 de junio de 2012.
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.
Peer Reviewed
2014-06-03T09:51:59Z
2014-06-03T09:51:59Z
2012
2014-06-03T09:51:59Z
comunicación de congreso
http://purl.org/coar/resource_type/c_5794
doi: 10.1007/978-94-007-4620-6_20
isbn: 978-94-007-4619-0
Latest Advances in Robot Kinematics: 157-164 (2012)
http://hdl.handle.net/10261/97632
10.1007/978-94-007-4620-6_20
Postprint
http://dx.doi.org/10.1007/978-94-007-4620-6_20
open
Springer