We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall...
Abstract— We consider the task of planning smooth trajectories for robot motion. In this paper we make two contributions. First we present a method for cubic spline optimization;...
In this paper, we describe early results in the development of an alternative programming method which uses large, three-dimensional acrylic blocks to construct programming sequen...
— A new hybrid motion planning technique based on Harmonic Functions (HF) and Probabilistic Roadmaps (PRM) is presented. The proposed approach consists of incrementally building ...