Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators.
Luca Massimiliano CapisaniTullio FacchinettiAntonella FerraraAlessandro MartinelliPublished in: J. Intell. Robotic Syst. (2013)
Keyphrases
- robot manipulators
- trajectory planning
- motion planning
- inverse kinematics
- mobile robot
- end effector
- robotic arm
- degrees of freedom
- mechanical systems
- control scheme
- sliding mode
- path planning
- robot arm
- dynamic model
- control system
- obstacle avoidance
- autonomous robots
- multi robot
- visual servoing
- control law
- real time
- joint angles
- pid controller
- viewpoint
- artificial neural networks
- three dimensional