Obstacle avoidance via articulation

Yong J. Choi, Carl D. Crane, Gary K. Matthew

Research output: Contribution to journalArticlepeer-review


This article presents a practical implementation of the theory for articulation of spatial robots such as the PUMA and TRS type robots. The “Blueprint Algorithm” is introduced as a simple rule‐based planning algorithm in which the geometry of interference takes on the role of a basis in a collision‐free path planning process amongst obstacles. This implementation presents a novel idea of “Machine Intelligence Via Robot Geometry” which utilizes robot attributes such as workspace and dexterity.

Original languageEnglish
Pages (from-to)465-484
Number of pages20
JournalJournal of Robotic Systems
Issue number4
Publication statusPublished - 1991 Aug

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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