TORM: Collision-Free Trajectory Optimization of Redundant Manipulator given an End-Effector Path.
Mincheul KangHeechan ShinDonghyuk KimSung-Eui YoonPublished in: CoRR (2019)
Keyphrases
- collision free
- end effector
- motion planning
- degrees of freedom
- inverse kinematics
- robotic arm
- robot arm
- path planning
- mobile robot
- dynamic environments
- visual servoing
- path planner
- control law
- configuration space
- robotic manipulator
- collision avoidance
- robot manipulators
- vision system
- joint angles
- pose estimation
- multi robot
- humanoid robot
- optimal path
- high dimensional
- position and orientation
- spatio temporal