On-line collision-free inverse kinematics with frictional active constraints for effective control of unstable concentric tube robots.
Konrad LeibrandtChristos BergelesGuang-Zhong YangPublished in: IROS (2015)
Keyphrases
- collision free
- motion planning
- inverse kinematics
- mobile robot
- path planning
- robot arm
- end effector
- robotic arm
- robot manipulators
- multi robot
- control system
- humanoid robot
- degrees of freedom
- robot control
- position and orientation
- collision avoidance
- control law
- robotic systems
- dynamic environments
- neural network
- real time
- control strategies