Realtime Motion Planning for Manipulator Robots under Dynamic Environments: An Optimal Control Approach
This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments. Recently, they have been increasingly used in applic...
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| Language: | en |
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2013
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| Online Access: | http://hdl.handle.net/10012/7405 |
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