Singularity-Robust Trajectory Generation
نویسندگان
چکیده
منابع مشابه
Singularity-robust Trajectory Generation Singularity-robust Trajectory Generation
A singularity-robust trajectory generator is presented that, given a prescribed manipulator path and corresponding kinematic solution, computes a feasible trajectory in the presence of kinematic singularities. The resulting trajectory is close to minimum time, subject to individual bounds on joint velocities and accelerations, and follows the path with precision. The algorithm has complexity O(...
متن کاملSingularity-Robust Trajectory Generation
A singularity-robust trajectory generator is presented which, given a prescribed manipulator path and corresponding kinematic solution, computes a feasible trajectory in the presence of kinematic singularities. The resulting trajectory is close to minimum time, subject to individual bounds on joint velocities and accelerations, and follows the path with precision. The algorithm has complexity O...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2001
ISSN: 0278-3649,1741-3176
DOI: 10.1177/02783640122067264