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IMA Journal of Mathematical Control and Information 1987 4(4):293-300; doi:10.1093/imamci/4.4.293
© 1987 by Institute of Mathematics and its Applications
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Trajectory Generation and Obstacle Avoidance

J. L. NOAKES

Department of Mathematics, University of Western Australia Nedlands, W.A. 6009, Australia

We use methods from algebraic topology to study the problem of cartesian trajectory generation in roboties. We find that cartesian trajectory generation may be impossible, or at best irregular, or that singularities appear, unless the joint space and workspace of the robot can be matched sufficiently well.


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