The kinematic roadmap: A motion planning based global approach for inverse kinematics of redundant robots

IEEE Transactions on Robotics and Automation

Volumn 15, Issue 4, 1999, Pages 653-669

  Ahuactzin, Juan Manuel ^a   Gupta, Kama K ^b  

^a UNIVERSIDAD DE LAS AMÉRICAS PUEBLA   (Mexico)

^b SIMON FRASER UNIVERSITY   (Canada)

Author keywords

Collision avoidance; Global planning; Inverse kinematics; Kinematic roadmap; Local planning; Motion planning; Path planning; Redundant manipulators; Roadmap approach

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; INVERSE KINEMATICS; MOTION PLANNING; POSITION CONTROL; REDUNDANCY; ROBOTICS;

POINT-TO-POINT PROBLEM;

MANIPULATORS;

EID: 0032664189     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.781970     Document Type: Article

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