An improved trajectory planner for redundant manipulators in constrained workspace

DOI10.1002/(SICI)1097-4563(199906)16:6%3C339::AID-ROB3%3E3.0.CO;2-1MaRDI QIDQ4269693zbMATH OpenOpenAlexFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 1049497 (Why is no real title available?)
• scientific article; zbMATH DE number 1174699 (Why is no real title available?)
• Predicting the drift motion for kinematically redundant robots

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