Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots.
Tobias MarauliDurgesh Haribhau SalunkheHubert GattringerAndreas MüllerDamien ChablatPhilippe WengerPublished in: IROS (2023)
Keyphrases
- motion planning
- mobile robot
- multi robot
- humanoid robot
- robotic tasks
- path planning
- collision free
- degrees of freedom
- trajectory planning
- manipulation tasks
- robotic systems
- robot arm
- autonomous mobile robot
- inverse kinematics
- control law
- mechanical systems
- obstacle avoidance
- optimal path
- real time
- robotic arm
- optimal control
- multi modal
- three dimensional
- configuration space
- human robot interaction
- multi agent
- machine learning