Kinematic singularities avoidance for the planar three-link nonholonomic manipulator.
Bartlomiej KrysiakKrzysztof KozlowskiPublished in: RoMoCo (2015)
Keyphrases
- parallel manipulator
- degrees of freedom
- motion planning
- inverse kinematics
- dynamic model
- path planning
- end effector
- trajectory planning
- tracking control
- collision avoidance
- robot arm
- mobile robot
- control law
- real time
- robot manipulators
- obstacle avoidance
- feedback control
- configuration space
- nonlinear systems
- robotic arm
- link structure
- closed loop
- neural network