Task Space Planning with Complementarity Constraint-based Obstacle Avoidance

In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel kinematic state evolution model of the robot where the collision...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	arXiv.org 2021-04
Hauptverfasser:	Sinha, Anirban, Sarker, Anik, Chakraborty, Nilanjan
Format:	Artikel
Sprache:	eng
Schlagworte:	Collision avoidance Collisions End effectors Evolution Interpolation Kinematics Model testing Obstacle avoidance Robots Task space
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!