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Motion Planning with Pose Constraints Based on Direct Projection for Anthropomorphic Manipulators
2020
IEEE Access
This paper presents an efficient planning algorithm, called Direct-Projection Rapidly-exploring Random Tree (DP-RRT), to address the motion planning with end-effector pose constraints for anthropomorphic manipulators. The key of this planning problem is to find constraint-satisfying configurations on the constraint manifolds and connect them to generate a collision-free and smooth path. In the previous works, the configurations that satisfy pose constraints are generally calculated by the
doi:10.1109/access.2020.2970540
fatcat:znzqvcatdvd5bnj6s7x3axkoui