Kinematics and dynamics motion planning by polar piecewise interpolation and geometric considerations.
Mihai DupacPublished in: Electron. Notes Discret. Math. (2018)
Keyphrases
- motion planning
- kinematic model
- inverse kinematics
- degrees of freedom
- path planning
- trajectory planning
- humanoid robot
- robot arm
- cubic spline interpolation
- mobile robot
- end effector
- joint angles
- robotic arm
- mechanical systems
- autonomous mobile robot
- multi robot
- control law
- robotic tasks
- cartesian coordinates
- belief space
- collision free
- obstacle avoidance
- configuration space
- dynamic model
- collision avoidance
- climbing robot
- machine learning
- potential field
- frequency domain
- pose estimation
- vision system
- viewpoint