Jerk-continuous Online Trajectory Generation for Robot Manipulator with Arbitrary Initial State and Kinematic Constraints.
Haoran ZhaoNihal AbdurahimanNikhil V. NavkarJulien LeclercAaron T. BeckerPublished in: IROS (2022)
Keyphrases
- trajectory planning
- robot manipulators
- initial state
- kinematic constraints
- motion planning
- situation calculus
- dynamic model
- control scheme
- obstacle avoidance
- path planning
- dynamic environments
- optimal policy
- state space
- probability distribution
- human body
- degrees of freedom
- pid controller
- mobile robot
- real time
- position and orientation
- average cost
- search space