An Algorithm for Computer Guidance of a Manipulator in Between Obstacles

[+] Author and Article Information
Luis A. Loeff

Lockheed Electronics Company, Houston, Texas

A. H. Soni

School of Mechanical & Aerospace Engineering, Oklahoma State University, Stillwater, Okla.

J. Eng. Ind 97(3), 836-842 (Aug 01, 1975) (7 pages) doi:10.1115/1.3438690 History: Received July 08, 1974; Online July 15, 2010


A mathematical algorithm is proposed that will generate an incremental motion for each position of the manipulator. Repeated use of this algorithm will automatically direct the mechanical arm (manipulator) to a specified destination avoiding collisions with obstacles.

Copyright © 1975 by ASME
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