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Reconfiguration with Line Tracking Motions

Authors: [tex2html_wrap4196]W. Lenhart, S. Whitesides

Investigator username: sue

Category: perception

Subcategory: geometric algorithms

We give a necessary and sufficient condition, testable in linear time, for determining whether a closed link chain can be reconfigured from one given position to another without disassembly. When the chain can be reconfigured, we give an algorithm for producing a set of motions that perform the reconfiguration. The algorithm runs in linear time and applies to closed chains in arbitrary dimensional space.