A variational approach to path planning for hyper-redundant manipulators

Robotics and Autonomous Systems

Volumn 57, Issue 2, 2009, Pages 194-201

  Dasgupta, Bhaskar ^a   Gupta, Akhil ^a   Singla, Ekta ^a  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

Author keywords

Obstacle avoidance; Path optimization; Redundant manipulators; Variational calculus

Indexed keywords

CALCULATIONS; MANIPULATORS; MOTION PLANNING; OPTIMIZATION; TECHNOLOGICAL FORECASTING; VARIATIONAL TECHNIQUES;

C-SPACE; CELL DECOMPOSITION; HIGH DIMENSIONALITY; OBSTACLE AVOIDANCE; PATH LENGTHS; PATH OPTIMIZATION; PATH PLANNING; POTENTIAL FIELDS; PROBABILISTIC ROADMAP METHOD (PRM); VARIATIONAL CALCULUS;

REDUNDANT MANIPULATORS;

EID: 58549096701     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.05.001     Document Type: Article

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