Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm

Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm

This paper proposes a model-free control framework for the path planning of the rigid and soft robotic manipulator using an intelligent algorithm called Weighted Jacobian Rapidly-exploring Random Tree (WJRRT). The optimization approach is used to model the path planning problem, which is independent...

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Bibliographic Details
Main Authors: Ameer Tamoor Khan, Shuai Li, Seifedine Kadry, Yunyoung Nam
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Rapidly-exploring Random Tree
robotic manipulator
redundant manipulator
robust path planning
soft robotics
Online Access:https://ieeexplore.ieee.org/document/9199815/

Internet

https://ieeexplore.ieee.org/document/9199815/

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