IEEE - Institute of Electrical and Electronics Engineers, Inc. - Reactive motion planning and control for compliant and constraint-based task execution

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Andrea Maria Zanchettin ; Paolo Rocco
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 2,748 - 2,753
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139572
Regular:

In this work, we propose a constraint-based algorithm for combined trajectory generation and kinematic control for robotic manipulators. The main feature of the algorithm is to ease robot... View More

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