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.
| Identifer | oai:union.ndltd.org:GATECH/oai:smartech.gatech.edu:1853/51895 |
| Date | 22 May 2014 |
| Creators | Keselman, Leo |
| Contributors | Vela, Patricio, Howard, Ayanna M., Verriest, Erik |
| Publisher | Georgia Institute of Technology |
| Source Sets | Georgia Tech Electronic Thesis and Dissertation Archive |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Format | application/pdf |
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