Optimal Motion Planning Passing Through Kinematic Singularities for Robot Arms.
Guangyu LianZengqi SunChundi MuPublished in: IROS (2006)
Keyphrases
- motion planning
- degrees of freedom
- inverse kinematics
- mobile robot
- configuration space
- trajectory planning
- robot arm
- humanoid robot
- path planning
- collision free
- robotic arm
- end effector
- kinematic model
- multi robot
- robotic tasks
- autonomous mobile robot
- obstacle avoidance
- manipulation tasks
- belief space
- dynamic programming
- mechanical systems
- joint space
- climbing robot
- pose estimation
- control law
- viewpoint
- motion control
- robot manipulators
- collision avoidance
- position and orientation
- multi modal
- optimal solution
- parallel robot
- real time