Designing multi-link robot arms in a convex polygon

Ichiro Suzuki, Masafumi Yamashita

研究成果: ジャーナルへの寄稿学術誌査読

1 被引用数 (Scopus)


The problem of designing a k-link robot arm confined in a convex polygon that can reach any point in the polygon starting from a fixed initial configuration is considered. The links of an arm are assumed to be all of the same length. We present a necessary condition and a sufficient condition on the shape of the given polygon for the existence of such a k-link arm for various values of k, as well as necessary and sufficient conditions for rectangles, triangles and diamonds to have such an arm. We then study the case k = 2, and show that, for an arbitrary n-sided convex polygon, in O(n2) time we can decide whether there exists a 2-link arm that can reach all inside points, and construct such an arm if it exists. Finally, we prove a lower bound and an upper bound on the number of links needed to construct an arm that can reach every point in a general n-sided convex polygon, and show that the two bounds can differ by at most one. The constructive proof of the upper bound thus provides a simple method for designing a desired arm having at most k+1 links when a minimum of k links are necessary, for any k ≥ 3. The method can be implemented to run in O(n2) time.

ジャーナルInternational Journal of Computational Geometry and Applications
出版ステータス出版済み - 1月 1 1996

!!!All Science Journal Classification (ASJC) codes

  • 理論的コンピュータサイエンス
  • 幾何学とトポロジー
  • 計算理論と計算数学
  • 計算数学
  • 応用数学


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