Time Optimal Motion Planning and Admittance Control for Cooperative Grasping.
Dominik KasererHubert GattringerAndreas MüllerPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- motion planning
- cooperative
- robotic arm
- mechanical systems
- degrees of freedom
- manipulation tasks
- trajectory planning
- mobile robot
- path planning
- robot arm
- optimal control
- humanoid robot
- collision free
- autonomous mobile robot
- multi robot
- kinematic model
- control system
- optimal solution
- obstacle avoidance
- end effector
- motion control
- robotic tasks
- robot manipulators
- control policy
- multi modal
- inverse kinematics
- configuration space
- robot control
- control strategy
- vision system
- dynamic programming
- three dimensional