Fast motion planning for articulated robots

Research output: Contribution to journalConference articlepeer-review


We show how to generate paths for redundant articulated robots in a few seconds or less using randomized search on multicomputers. We present experimental results obtained for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm.

Original languageEnglish (US)
Pages (from-to)1622-1627
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
StatePublished - Dec 1 1994
EventProceedings of the 1994 IEEE International Conference on Systems, Man and Cybernetics. Part 1 (of 3) - San Antonio, TX, USA
Duration: Oct 2 1994Oct 5 1994


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