Path Planning of Free-Floating Robot in Cartesian Space Using Direct Kinematics
Dynamic singularities make it difficult to plan the Cartesian path of freefloating robot. In order to avoid its effect, the direct kinematic equations are used for path planning in the paper. Here, the joint position, rate and acceleration are bounded. Firstly, the joint trajectories are parameteriz...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2008-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Subjects: | |
| Online Access: | http://www.intechopen.com/articles/show/title/path_planning_of_free-floating_robot_in_cartesian_space_using_direct_kinematics |