Offline motion planning on spherical surfaces for a manipulator.
Zhiqiang BiHongmin WuYingwu HePing ZhangYisheng GuanGuanfeng LiuPublished in: ROBIO (2014)
Keyphrases
- motion planning
- degrees of freedom
- inverse kinematics
- robotic arm
- path planning
- robot arm
- three dimensional
- unit sphere
- trajectory planning
- mobile robot
- end effector
- robotic tasks
- multi robot
- configuration space
- obstacle avoidance
- range data
- humanoid robot
- control law
- belief space
- spherical harmonics
- pose estimation
- manipulation tasks
- autonomous mobile robot
- conformal mapping
- collision free
- dynamic model
- viewpoint
- joint angles
- control method
- mechanical systems
- reinforcement learning