Time-optimal motion planning for n-DOF robot manipulators using a path-parametric system reformulation.
Robin VerschuerenNiels van DuijkerenJan SweversMoritz DiehlPublished in: ACC (2016)
Keyphrases
- motion planning
- trajectory planning
- collision free
- robot manipulators
- inverse kinematics
- degrees of freedom
- path planning
- optimal path
- end effector
- robot arm
- mobile robot
- obstacle avoidance
- robotic arm
- configuration space
- robotic tasks
- humanoid robot
- mechanical systems
- multi robot
- joint angles
- path finding
- collision avoidance
- control law
- pose estimation
- three dimensional
- control algorithm
- dynamic environments
- particle swarm optimization
- climbing robot