TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path.
Mincheul KangHeechan ShinDonghyuk KimSung-Eui YoonPublished in: IROS (2020)
Keyphrases
- end effector
- degrees of freedom
- configuration space
- inverse kinematics
- robot manipulators
- robot arm
- vision system
- robotic manipulator
- visual servoing
- force feedback
- robotic arm
- hand eye calibration
- motion planning
- collision free
- optimization algorithm
- control law
- path planning
- human arm
- computer vision
- position and orientation
- force control
- global optimization
- pose estimation
- optimal path
- control scheme
- human computer interaction
- mobile robot