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

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.

Identiferoai:union.ndltd.org:GATECH/oai:smartech.gatech.edu:1853/51895
Date22 May 2014
CreatorsKeselman, Leo
ContributorsVela, Patricio, Howard, Ayanna M., Verriest, Erik
PublisherGeorgia Institute of Technology
Source SetsGeorgia Tech Electronic Thesis and Dissertation Archive
Languageen_US
Detected LanguageEnglish
TypeThesis
Formatapplication/pdf

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