Motion planning for a high-speed manipulator with mechanical joint stops based on target dynamics and PCH system.
Suguru SakaiChunquan XuAiguo MingMakoto ShimojoPublished in: IROS (2009)
Keyphrases
- motion planning
- degrees of freedom
- high speed
- inverse kinematics
- kinematic model
- robotic arm
- path planning
- joint angles
- robot arm
- trajectory planning
- mobile robot
- end effector
- robotic tasks
- obstacle avoidance
- humanoid robot
- configuration space
- control law
- dynamic model
- pose estimation
- multi robot
- robot manipulators
- autonomous mobile robot
- mechanical systems
- control method
- dynamical systems
- feature points
- real time