Abstract:We revisit the trajectory planning problem for general N-link robotic manipulators. Our approach focuses on characterising the whole set of states that can be transferred to a target set of velocities without violating constraints. To achieve this, we work in the commonly utilized two dimensional projected space of the Lagrangian dynamics on a specific predefined path. The produced dynamics is a double integrator, with nonlinearities being pushed into a non-convex and statedependent input constraint set. We ap… Show more
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