Pose optimization and path improvement in robotic drilling through minimization of joint reversals.
Jasper ArthurMatt KhoshdarregiPublished in: Adv. Robotics (2022)
Keyphrases
- joint optimization
- optimization problems
- robotic systems
- global optimization
- efficient optimization
- objective function
- d objects
- optimization algorithm
- shortest path
- pose estimation
- kinematic constraints
- optimization methods
- mobile robot
- combinatorial optimization
- partial occlusion
- cost function
- optimization model
- global convergence
- video sequences
- neural network
- real time