Robot Arm Motion Planning Based on Geodesics
Mario Laux,Andreas Zell,Mario Laux,Andreas Zell
Naturally, finding joint trajectories for robotic manipulators involves competing optimization goals. On the one hand, the end-effector should move along a predictable and short path while on the other hand joint movement and acceleration should be kept to a minimum. Obstacles in the workspace or joint limits complicate the situation even further. Constructing a metric that makes undesired configu...
