Fast Adaptation of Manipulator Trajectories to Task Perturbation by Differentiating through the Optimal Solution.
Shashank SrikanthMithun BabuHouman MasnaviArun Kumar SinghKarl KruusamäeKrishnan Madhava KrishnaPublished in: Sensors (2022)
Keyphrases
- optimal solution
- degrees of freedom
- np hard
- moving objects
- search space
- computer controlled
- solution quality
- knapsack problem
- feasible solution
- objective function
- lower bound
- metaheuristic
- trajectory data
- robot manipulators
- total cost
- global optimum
- iterative procedure
- parallel manipulator
- laparoscopic surgery
- motion patterns
- path planning
- vision system
- control method
- branch and bound
- linear program
- inverse kinematics
- linear programming
- image sequences
- genetic algorithm