Trajectory Optimization of a Redundant Serial Robot Using Cartesian via Points and Kinematic Decoupling.
Matteo BottinGiulio RosatiPublished in: Robotics (2019)
Keyphrases
- configuration space
- robot motion
- mobile robot
- parallel robot
- trajectory planning
- inverse kinematics
- optimization algorithm
- end effector
- degrees of freedom
- input output
- human robot interaction
- kinematic model
- path planning
- data points
- motion planning
- global optimization
- optimization problems
- constrained optimization
- point sets
- robot manipulators
- joint space
- vision system
- mobile robotics
- autonomous robots
- optimization process
- trajectory data
- motion control
- real time
- moving points
- robot moves
- kinematic constraints
- control strategy
- robotic systems
- multi robot
- endpoints
- service robots
- joint angles
- collision free
- position and orientation
- robot arm
- robot navigation
- visual servoing