%0 Journal Article
%T COLLISION-FREE PATH PLANNING FOR A MULTI-JOINT ROBOTIC ARM BASED ON TOPOLOGICAL METHOD<br>基于拓扑法的多关节机械手无碰路径规划
%A Li Yongcheng
%A Zhang Bo
%A <br>李永成
%A 张钹
%J 软件学报
%D 1993
%I 
%X In this paper,a collision-free path planning for a multi-joint robotic arm based on topological method is presented. The problems of how to partition the Configuration Space,how to judge the connectivity between connected blocks and how to search for a path are mainly discussed,finally an experimental result is given to show the feasibility of the planning method.
%K 机械手
%K 拓扑法
%K 无碰路径规划
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=7735F413D429542E610B3D6AC0D5EC59&aid=0BEF4983C4522B119D2B4FE5A10A265B&yid=D418FDC97F7C2EBA&vid=E158A972A605785F&iid=94C357A881DFC066&sid=708DD6B15D2464E8&eid=7801E6FC5AE9020C&journal_id=1000-9825&journal_name=软件学报&referenced_num=0&reference_num=8