An improved trajectory planner for redundant manipulators in constrained workspace

DOI10.1002/(SICI)1097-4563(199906)16:6%3C339::AID-ROB3%3E3.0.CO;2-1zbMATH Open0966.70019OpenAlexW2148882470MaRDI QIDQ4269693FDOQ4269693

Authors: Tzu-Chen Liang, Jing-Sin Liu 

Publication date: 16 August 2001

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199906)16:6%3C339::aid-rob3%3E3.0.co;2-1

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zbMATH Keywords

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

Mathematics Subject Classification ID

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

Cites Work

• Title not available (Why is that?)
• Predicting the drift motion for kinematically redundant robots
• Title not available (Why is that?)

Cited In (4)

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