Robot Arm Motion Planning Based on Geodesics
Mario Laux Andreas Zell Mario Laux Andreas Zell
Naturally, finding joint trajectories for robotic manipulators involves competing optimization goals. On the one hand, the end-effector should move along a predictable and short path while on the other hand joint movement and acceleration should be kept to a minimum. Obstacles in the workspace or joint limits complicate the situation even further. Constructing a metric that makes undesired configu...