On Screw Linear Interpolation for Point-to-Point Path Planning
Anik Sarker,Anirban Sinha,Nilanjan Chakraborty,Anik Sarker,Anirban Sinha,Nilanjan Chakraborty
Robot motion is controlled in the joint space whereas the robots have to perform tasks in their task space. Many tasks like carrying a glass of liquid, pouring liquid, opening a drawer requires constraints on the end-effector during the motion. The forward and inverse kinematic mappings between joint space and task space are highly nonlinear and multi-valued (for IK). Consequently, modeling task s...
