Abstract
In this chapter we study the path planning problem for a robot subject to kinematic constraints, i.e. an object (or a collection of objects) that cannot translate and rotate freely in the workspace. Indeed, so far, we have only investigated the case of free-flying robots. The only exception occurred in the last section of the previous chapter, when we considered articulated robots made of several objects connected by joints. The constraint imposed by a joint on the relative motion of the two objects it connects is a simple example of kinematic constraint.
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© 1991 Springer Science+Business Media New York
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Latombe, JC. (1991). Kinematic Constraints. In: Robot Motion Planning. The Springer International Series in Engineering and Computer Science, vol 124. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4022-9_9
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DOI: https://doi.org/10.1007/978-1-4615-4022-9_9
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-7923-9206-4
Online ISBN: 978-1-4615-4022-9
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