Robot Motion Planning Based on Whole Trajectory Modification
نویسنده
چکیده
We present a novel approach to motion planning for robot manipulators in known environments. The key concept h to evaluate coz.qdefe trajectories between start and goal in the workspace and to reshape them incrementally. The evaluation is based on virtual modifications of the geometry model of the robot. An initially colliding trajectory is bended in space to be improved with respect to the evaluation.
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