Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking
Jaeu Choe,Jeongseob Lee,Hyunsoo Yang,Hai-Nguyen Nguyen,Dongjun Lee,Jaeu Choe,Jeongseob Lee,Hyunsoo Yang,Hai-Nguyen Nguyen,Dongjun Lee
In this paper, we present a novel trajectory planning method for externally-actuated modular manipulators (EAMMs), consisting of multiple rotor-actuated links with joints that can be either locked or unlocked. This joint-locking feature allows effective balancing of the payload capacity and dexterity of the robot but significantly complicates the planning problem by introducing binary decision var...
