论文标题
配置空间的最低扫描量的度量结构
A minimum swept-volume metric structure for configuration space
论文作者
论文摘要
借用固体力学和差异几何形状的基本思想，该介绍表明，经过一类广泛的体积扩展变形的常规固体扫描的体积会在其配置空间上引起具有良好定义和可计算的大地测量学的相当自然的度量结构。这一总体结果适用于机器人操纵器等具体的铰接式物体类别，我们证明了作为概念的证明，用于自由飞行杆和平面机器人臂的测量路径的计算以及在有许多障碍的路径计划中使用它们。
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure with well-defined and computable geodesics on its configuration space. This general result applies to concrete classes of articulated objects such as robot manipulators, and we demonstrate as a proof of concept the computation of geodesic paths for a free flying rod and planar robotic arms as well as their use in path planning with many obstacles.
