Robotics Research Technical Report: Analysis of the Motion-Planning Problem for a Simple Two-Link Planar Arm (Classic Reprint) - Hardcover

Boris Aronov

9780267848911: Robotics Research Technical Report: Analysis of the Motion-Planning Problem for a Simple Two-Link Planar Arm (Classic Reprint)

Hardcover

ISBN 10: 0267848919 ISBN 13: 9780267848911

Publisher: Forgotten Books, 2018

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A practical and rigorous look at motion planning for a simple two-link robotic arm.

This nonfiction study presents a clear model of a two-link robot anchored at a fixed origin and explains how its joints move amid room walls and obstacles. It shows how to think about reachable configurations and how to build a path from start to goal using a structured graph of placements.

Written to illuminate both the theory and the algorithmic approach, the book explains the ideas behind virtual walls, free placements, and the connectivity graph that guides motion planning. It discusses how the forearm and upper arm define a workspace, how critical and noncritical orientations shape transitions, and how incremental construction helps solve practical planning problems while keeping assumptions manageable.

Modeling a two-link robot with a fixed origin and rotating joints.
Concepts like free placements, generic placements, and the idea of virtual walls.
How a connectivity graph CG organizes regions of feasible configurations and their adjacencies.
An incremental approach to building CG and determining reachability between placements.

Ideal for readers of robotics research and algorithm design who want a grounded, detail‑oriented treatment of motion planning in constrained spaces.

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