Optimal Motion Planning Considering Task Redundancy in Trajectory Tracking Applications for Industrial Robot.
Wenxiang GaoQing TangJin YaoPublished in: ROBIO (2022)
Keyphrases
- motion planning
- control law
- trajectory tracking
- mobile robot
- humanoid robot
- robot arm
- collision free
- trajectory planning
- degrees of freedom
- path planning
- visual servoing
- robotic tasks
- multi robot
- autonomous mobile robot
- robotic arm
- inverse kinematics
- obstacle avoidance
- configuration space
- control system
- manipulation tasks
- sliding mode
- dynamic model
- bi directional
- nonlinear systems
- adaptive control
- closed loop
- dynamic programming
- end effector
- iterative learning control
- control theory
- iterative learning
- optimal path
- collision avoidance
- human robot interaction
- dynamic environments
- vision system
- reinforcement learning
- machine learning