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

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.