Star Directory Reference

Detailed Description

A planar linkage forming a star (or a splier, as yuu prefer) with n legs with m links per leg.

A closed-form motion planner for this particular family of mechanism without considering collisions is give in

• N. Shvalb, L.G. Liu, M. Shoham, and J.C. Trinkle, Motion planning for a class of planar closed-chain manipulators, International Journal of Robotics Research, 26(5):457-474, May 2007.

and we use it here as a testbed our out general planning approach adding bug-trap like obstacles:

Please check the Star3.world for more information about this example.

Files
file	Star3.world [code]
	A planar linkage forming a star.