IEEE Transactions on Systems, Man and Cybernetics
Contribution to control of redundant robotic manipulators in an environment withobstacles
International Journal of Robotics Research
Dexterity measures for the design and control of kinematically redundant manipulators
International Journal of Robotics Research
Introduction to Solid Modeling
Introduction to Solid Modeling
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
A supervisory intelligent robot control system for a relative pose-based strategy
A supervisory intelligent robot control system for a relative pose-based strategy
Automatic grasp planning for visual-servo controlled roboticmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
Journal of Intelligent and Robotic Systems
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This paper describes a new approach to robot motion planning that combines the end-point motion planning with joint trajectory planning for collision avoidance of the links. Local and global methods are proposed for end-point motion planning. The joint trajectory planning is achieved through a pseudoinverse kinematic formulation of the problem. This approach enables collision avoidance of the links by a fast null-space vector computation. The power of the proposed planner derives from: its speed; the good properties of the potential function for end-point motion planning; and from the simultaneous avoidance of the links collision, kinematic singularities, and local minima of the potential function. The planner is not defined over computationally expensive configuration space and can be applied for real-time applications. The planner shows to be faster than many previous planners and can be applied to robots with many degrees of freedom. The effectiveness of the proposed local and global planning methods as well as the general robot motion planning approach have been experimented using the computer-simulated robots. Some of the simulation results are included in this paper.