Page 255 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World
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230 MOTION PLANNING FOR TWO-DIMENSIONAL ARM MANIPULATORS
S′
S
b S
2
3
1
l 2max
10′ 4 12
5 +
6 q 1
9
7
10 B q 1 = 0
8 O 8 13
6 4 3
9
a S
A
6′ 7 5 2 10
3′ 11
T
1 T′
5′
1 '
(a)
l 2
11
l 2max
T
S
3 2
10 4
B
1
5
9 6
A
7
8
1′ ′ 6 ′
′ 5
10
q 1 = 90°
q 1 = 0
+
q 1
(b)
Figure 5.24 Revolute–prismatic (RP) parallel two-link arm. (a) W -space, with obstacles
A and B. Shadows (shaded) result from interaction between the rear end of link l 2 with
obstacle A and the front end of l 2 with obstacle B. (b) C-space images of the corresponding
virtual obstacles. Line (S, T ) is the image of the straight line (S, T ) in W -space.
