Compliant motion planning with geometric models

Abstract

We present algebraic algorithms to generate the boundary of configuration space obstacles arising from the translatory motion of objects amongst obstacles. In particular we consider obtaining compliant motion paths where a curved convex object with fixed orientation moves in continuous contact with the boundary of curved convex obstacles in three Dimensions. Both the boundaries of the objects and obstacles are given by patches of algebraic surfaces. We also give a method to obtain approximate geodesic paths on convex C-space obstacles with algebraic boundary surfaces.