Download or read book Randomized Path Planning for Linkages with Closed Kinematic Chains written by Jeffery Howard Yakey and published by . This book was released on 1999 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: There are also a number of applications outside of robotics for which our framework is useful, including computational chemistry and virtual prototyping. We adapt two randomized techniques for motion planning that have had much recent success in solving difficult problems: probabilistic roadmaps and rapidly-exploring random trees. Random sampling and incremental motion algorithms are used in both of these approaches to search the solution space of a linkage containing closed kinematic chains. Our framework has been implemented using probabilistic roadmaps and rapidly-exploring random trees for linkages in a two-dimensional environment with obstacles.