Abstract: An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented.
The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is
reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm
implementation for the control of a seven link (7 degrees of
freedom, 7DOF) manipulator are given.
Abstract: The Algorithm 2 for a n-link manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm 2 guarantees the reaching of a target position in a finite number of steps. The Algorithm 2 is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the Algorithm2 implementation are given.