Motion planning and control of an underactuated 3DOF helicopter.
Simon WesterbergUwe MettinAnton S. ShiriaevPublished in: IROS (2010)
Keyphrases
- motion planning
- mechanical systems
- robotic arm
- degrees of freedom
- control law
- path planning
- trajectory planning
- robot arm
- mobile robot
- end effector
- inverse kinematics
- humanoid robot
- multi robot
- robotic tasks
- control method
- autonomous mobile robot
- manipulation tasks
- collision free
- robotic manipulator
- visual servoing
- robot control
- obstacle avoidance
- control strategy
- mathematical model
- control system
- robot manipulators
- configuration space
- computer vision
- motion control
- nonlinear systems
- control strategies
- potential field
- robotic systems
- kinematic model