Optimal motion planning passing through kinematic singularities for robot arms

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2006, Pages 4349-4354

  Lian, Guangyu ^a   Sun, Zengqi ^a   Mu, Chundi ^a  

^a TSINGHUA UNIVERSITY   (China)

Author keywords

Kinematic singularity; Motion planning; Optimal trajectory; Serial linked robot

Indexed keywords

COMPUTER SIMULATION; DYNAMIC PROGRAMMING; MOTION PLANNING; PROBLEM SOLVING; TRACKING (POSITION);

AUGMENTED PATH; KINEMATIC SINGULARITIES; OPTIMAL TRAJECTORY; SERIAL-LINKED ROBOT;

ROBOTIC ARMS;

EID: 34250679845     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2006.282008     Document Type: Conference Paper

References (8)

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