An improved trajectory planner for redundant manipulators in constrained workspace

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199906)16:6<339::AID-ROB3>3.0.CO;2-1" /><339::AID-ROB3>3.0.CO;2-1 10.1002/(SICI)1097-4563(199906)16:6<339::AID-ROB3>3.0.CO;2-1zbMath0966.70019OpenAlexW2148882470MaRDI QIDQ4269693

Jing-Sin Liu, Tzu-Chen Liang

Publication date: 16 August 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199906)16:6<339::aid-rob3>3.0.co;2-1

zbMATH Keywords

potential field methodredundant robotscollision-free trajectory planningconstrained workspaceelastic model methodimproved null-space projection methodkey path points

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Cites Work

• Predicting the drift motion for kinematically redundant robots
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