Boundary Conditions in Geodesic Motion Planning for Manipulators
Mario Laux,Andreas Zell,Mario Laux,Andreas Zell
In dynamic environments, robotic manipulators and especially cobots must be able to react to changing circumstances while in motion. This substantiates the need for quick trajectory planning algorithms that are able to cope with arbitrary velocity and acceleration boundary conditions. Apart from dynamic re-planning, being able to seamlessly join trajectories together opens the door for divide-and-...
