Motion Planning for Manipulators with Many Degrees of Freedom - The BB-Method

Abstract

Munchen eingereicht und durch die Fakultat fur Informatik am August angenommen vPreface The topic of this book automatic path and trajectory planning is an impor tant area of robotics In this decade robotics similar to some other areas of computer science was shaped by striving for systems with more intelligence more autonomy\n and more freedom of choice The conception of such inherently complex systems posed new challenges in research as well as in the reorientation process of the often traditionally shaped application domains In industrial manufacturing these eorts were strengthened and supported by the target of an integrated computer support comprising all steps from design to product Due to these eorts more and more products and their manufacturing production lines are completely modelled with CADtools Due to this\n product properties cannot be determined only when a prototype is available\n but already during the development process by using computer simu