Randomized path planning for redundant manipulators without inverse kinematics

We present a sampling-based path planning algorithm capable of efficiently generating solutions for high-dimensional manipulation problems involving challenging inverse kinematics and complex obstacles. Our algorithm extends the rapidly-exploring random tree (RRT) algorithm to cope with goals that a...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Vande Weghe, M., Ferguson, D., Srinivasa, S.S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	End effectors Jacobian matrices Kinematics Manipulators Optimal control Orbital robotics Path planning Shape Space exploration Systems engineering and theory
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