A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
Motion Planning with Pose Constraints Based on Direct Projection for Anthropomorphic Manipulators
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 thedoi:10.1109/access.2020.2970540 fatcat:znzqvcatdvd5bnj6s7x3axkoui