— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
Abstract— We consider the problem of planning collisionfree motions for general (i.e., possibly nonholonomic) redundant robots subject to task space constraints. Previous approac...
— We explore global randomized joint space path planning for articulated robots that are subject to task space constraints. This paper describes a representation of constrained m...
— This article introduces a new technique for planning reactionless paths to a point in Cartesian space, for manipulators mounted on a free-floating satellite. It is based on de...