Dynamic trajectory optimization in real time for moving obstacles avoidance by a ten degrees of freedom manipulator.
Maximilian SchlemmerReinhard FinsterwalderGeorg GrübelPublished in: IROS (3) (1995)
Keyphrases
- degrees of freedom
- real time
- collision free
- motion planning
- path planning
- configuration space
- robotic arm
- pose estimation
- end effector
- motion tracking
- trajectory planning
- minimally invasive surgery
- joint space
- parallel manipulator
- articulated objects
- dynamic environments
- vision system
- inverse kinematics
- control system
- articulated hand
- robotic manipulator
- computer vision