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Singularity-consistent path planning and motion control through instantaneous self-motion singularities of parallel-link manipulators.
Dragomir N. Nenchev
Masaru Uchiyama
Published in:
J. Field Robotics (1997)
Keyphrases
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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