Generating robust trajectories in the presence of ordinary and linear-self-motion singularities

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4_1998, Issue , 1998, Pages 3228-3234

  Lloyd, John E ^a   Hayward, Vincent ^b  

^a UNIVERSITY OF BRITISH COLUMBIA   (Canada)

^b MCGILL UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COMPLEXITY; INVERSE KINEMATICS; MANIPULATORS; ACCELERATION; ALGORITHMS; COMPUTATIONAL METHODS; MOTION PLANNING; ROBUSTNESS (CONTROL SYSTEMS); VELOCITY;

INVERSE KINEMATIC SOLUTIONS; JOINT COORDINATES; JOINT VELOCITY; KINEMATIC SINGULARITY; MINIMUM TIME; SELF MOTION;

TRAJECTORIES; MANIPULATORS;

KINEMATIC SINGULARITY; LINEAR SELF MOTION SINGULARITY;

EID: 0031640423     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680924     Document Type: Conference Paper

References (16)

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