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Motion planning for redundant manipulators and other high degree-of-freedom systems

By Leo Keselman

Abstract

Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.M.S

Topics: Motion planning, RRT, Manipulators, Manipulator, Redundant manipulator, Planning, Inverse kinematics, Kinematics, Robotics, Serial link, Machinery, Kinematics of, Robots Kinematics, Manipulators (Mechanism), Robots, Industrial, Robots
Publisher: Georgia Institute of Technology
Year: 2014
OAI identifier: oai:smartech.gatech.edu:1853/51895
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