Virtual environments for internet-based robots- II: path planning

Jiacheng Tan, Gordon J. Clapworthy

Research output: Contribution to journalArticlepeer-review


This paper addresses the issue of path planning in a virtual
environment (VE) for the control of an Internet-based robot manipulator.
A hybrid method is proposed in which the dimension of
the path-planning problem is reduced by separating the problem
of planning the position of the gripper from that of planning the
pose of the gripper. A global configuration-space technique is used
for the former and a local operational-space technique is used for
the latter. Particular attention is paid to fundamental issues such
as mapping the graphical model into configuration space, on-line
collision detection and obstacle avoidance in the VE.
Original languageEnglish
Pages (from-to)389-395
Number of pages7
JournalProceedings of the IEEE
Issue number3
Publication statusPublished - 1 Mar 2003


  • collision detection
  • computer graphics
  • telerobotics


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