Safe Motion Planning for Serial-Chain Robotic Manipulators via Invariant Sets.
Teo BrandtRafael FierroClaus DanielsonPublished in: IEEE Control. Syst. Lett. (2024)
Keyphrases
- motion planning
- robotic manipulator
- degrees of freedom
- end effector
- robot arm
- trajectory planning
- mobile robot
- path planning
- humanoid robot
- pose estimation
- inverse kinematics
- robotic arm
- robotic tasks
- control law
- autonomous mobile robot
- robotic systems
- control scheme
- multi robot
- mechanical systems
- position control
- configuration space
- obstacle avoidance
- visual servoing
- real time
- control system
- computer vision