TORM: Fast and Accurate Trajectory Optimization of Redundant Manipulator given an End-Effector Path
Mincheul Kang,Heechan Shin,Donghyuk Kim,Sung-Eui Yoon,Mincheul Kang,Heechan Shin,Donghyuk Kim,Sung-Eui Yoon
A redundant manipulator has multiple inverse kinematics solutions per end-effector pose. Accordingly, there can be many trajectories for joints that follow a given end-effector path in the Cartesian space. In this paper, we present a trajectory optimization of a redundant manipulator (TORM) to synthesize a trajectory that follows a given end-effector path accurately, while achieving smoothness and...
