Improved Mechanical Design and Simplified Motion Planning of Hybrid Active and Passive Cable-Driven Segmented Manipulator with Coupled Motion.
Tianliang LiuZonggao MuWenfu XuTaiwei YangKailing YouHaiming FuYangmin LiPublished in: IROS (2019)
Keyphrases
- motion planning
- mechanical design
- degrees of freedom
- inverse kinematics
- path planning
- robotic arm
- robot arm
- end effector
- trajectory planning
- mobile robot
- humanoid robot
- robotic tasks
- conceptual design
- autonomous mobile robot
- configuration space
- control law
- mechanical systems
- control system
- collision avoidance
- multi robot
- pose estimation
- obstacle avoidance
- parallel manipulator
- manipulation tasks
- vision system
- collision free
- kinematic model
- joint angles
- climbing robot