End-effector path tracking of a 14 DOF Rover Manipulator System in CG-Space framework
Shubhi Katiyar,
Ashish Dutta
Abstract:In order to resolve redundancy and path planning of a high DOF mobile manipulator using conventional approaches like Jacobian and a pseudoinverse method, researchers face the limitation of computational load and delay in response. If such kind of mobile manipulator is traversing the rough terrain, then conventional methods become too costly to implement due to the handling of redundant joints, obstacles, and wheel-terrain interaction. A few optimization-based redundancy resolution approaches try incorporating … Show more
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