An improved geodesic algorithm for trajectory planning of multi-joint robots
The present work proposes an improved geodesic algorithm for the trajectory planning of multi-joint robots. First, all of the joint variables are chosen to set up a generalized local coordinate system for the product of the positional space and the orientational one. Second, by defining a new Rieman...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-09-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881416657742 |