In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
3
π
φ
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
c
k
q
εv i
v'i
v i+1v'i+1
θ
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
c
ε
v i+1
v'i+1
v i
v'i
v j
v'j c
βαl i
v i+1β'β
''v i v i+2
v'i+1v''i+1
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
v c2
μ
Clamp
Q
v'c2v''c2
v c1
v p
v 1
v 2
f 1
f 2μ'
μ''
A
B
C
D Clamp
l 1l
2
l
3
μ1μ2μ3
x 1x
2
x
3
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.
In P. Agarwal, L. Kavraki, M. Mason, editors, Robotics: The Algorithmic Perspective, A. K. Peters, Ltd. 1998.