Sensor-Based Motion Planning for Highly Redundant Kinematic Structures: II. The Case of a Snake Arm Manipulator.
Dan ReznikVladimir J. LumelskyPublished in: ICRA (3) (1993)
Keyphrases
- motion planning
- degrees of freedom
- robotic arm
- inverse kinematics
- highly redundant
- end effector
- robot arm
- joint space
- climbing robot
- path planning
- trajectory planning
- configuration space
- joint angles
- parallel manipulator
- collision free
- human arm
- pose estimation
- robotic tasks
- obstacle avoidance
- mobile robot
- control law
- manipulation tasks
- mechanical systems
- kinematic model
- real time
- robot manipulators
- autonomous mobile robot
- master slave
- multi robot
- active contours
- viewpoint