Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators.
Dragomir N. NenchevMasaru UchiyamaPublished in: J. Field Robotics (1997)
Keyphrases
- path planning
- motion control
- mobile robot
- autonomous navigation
- motion planning
- obstacle avoidance
- autonomous robots
- path planning algorithm
- dynamic environments
- collision avoidance
- multi robot
- singularity detection
- optimal path
- robot control
- robotic systems
- dynamic and uncertain environments
- autonomous vehicles
- multiple robots
- potential field
- kinematic model
- control system
- configuration space
- degrees of freedom
- visual servoing
- real robot
- robot path planning
- real world
- control algorithm
- trajectory planning