Automatic joint motion planning of 9-DOF robot based on redundancy optimization for wheel hub polishing.
Zhiheng LiuRuifeng LiLijun ZhaoYi XiaZhonghao QinKui ZhuPublished in: Robotics Comput. Integr. Manuf. (2023)
Keyphrases
- motion planning
- degrees of freedom
- mobile robot
- path planning
- humanoid robot
- trajectory planning
- robotic arm
- robot arm
- obstacle avoidance
- multi robot
- autonomous mobile robot
- robotic tasks
- manipulation tasks
- kinematic model
- joint optimization
- inverse kinematics
- collision free
- joint angles
- end effector
- climbing robot
- configuration space
- mechanical systems
- dynamic environments
- spatio temporal
- potential field
- control law
- motion control
- collision avoidance
- optimal path
- robotic systems
- principal component analysis