Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space
Iori Kumagai,Masaki Murooka,Mitsuharu Morisawa,Fumio Kanehiro,Iori Kumagai,Masaki Murooka,Mitsuharu Morisawa,Fumio Kanehiro
In this paper, we propose a trajectory planning framework for a robot that exploits a pre-computed database of end-effector trajectories as the guidance of optimization-based inverse kinematics. We constructed a reachable graph of a robot offline, which represents feasible end-effector paths with corresponding configurations. When performing the online trajectory planning, we applied A* search to ...
