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Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search
2022
EAI Endorsed Transactions on AI and Robotics
This paper presents a model-free real-time kinematic tracking controller for a redundant manipulator. Redundant manipulators are common in industrial applications because of the flexibility and dexterity they get from redundant joints. However, at the same time, the modeling of these systems becomes quite challenging, even for simple tasks like trajectory tracking. Some classical approaches are being used to tackle the issue, including a numerical approximation of the Jacobian and
doi:10.4108/airo.v1i.6
fatcat:6t23h6plyjectcgdylheejqedm