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ICRA
2006
IEEE

Manipulability Optimization for Trajectory Generation

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Manipulability Optimization for Trajectory Generation
Abstract— In this paper, we present an algorithm for manipulability based trajectory generation for any serial manipulator that has an inverse kinematic model that can obtain all solutions. Our strategy is a search-based approach that analyzes candidate configurations at discrete points along the workspace trajectory. Given such a model we prove the configuration space trajectories generated by our method are optimal within the limit of the discretization of the workspace trajectory.
Luis Guilamo, James J. Kuffner Jr., Koichi Nishiwa
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICRA
Authors Luis Guilamo, James J. Kuffner Jr., Koichi Nishiwaki, Satoshi Kagami
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