Inverse kinematics and path planning of manipulator using real quantifier elimination based on Comprehensive Gröbner Systems.
Mizuki YoshizawaAkira TeruiMasahiko MikawaPublished in: CoRR (2023)
Keyphrases
- path planning
- inverse kinematics
- motion planning
- mobile robot
- quantifier elimination
- dynamic environments
- robot arm
- robot manipulators
- dynamic and uncertain environments
- degrees of freedom
- multi robot
- path planning algorithm
- optimal path
- end effector
- configuration space
- robot path planning
- path planner
- real time
- position and orientation
- autonomous robots
- numerically stable
- multi modal
- genetic algorithm