Trajectory Planning with Collision Avoidance for Redundant Robots Using Jacobian and Artificial Potential Field-based Real-time Inverse Kinematics
Sun-Oh Park, Min Cheol Lee, Jae‐Hyung Kim
Topics & Concepts
Jacobian matrix and determinantInverse kinematicsObstacle avoidanceMotion planningKinematicsControl theory (sociology)Collision avoidanceComputer sciencePath (computing)Robot kinematicsTrajectoryObstacleRobotMathematical optimizationMathematicsCollisionArtificial intelligenceMobile robotApplied mathematicsPolitical scienceAstronomyPhysicsClassical mechanicsLawControl (management)Computer securityProgramming languageRobotic Path Planning AlgorithmsRobotic Mechanisms and DynamicsControl and Dynamics of Mobile Robots