Motion planning for human arm based on depth buffer
基于深度值的虚拟人手臂运动规划

This dissertation proposed a new motion planning algorithm for human arm based on depth buffer(z-buffer).This method expanded the A* algorithm to three-dimensional space and detected collision taking advantage of a special computer graphics hardware-depth buffer.Thus it was addressed the problem of confined space motion planning for human arm.The simulation results show that this algorithm can realize the motion planning for a human arm with 3 links and 7 DOFs rapidly and effectively.