@inproceedings{4874dc42441547f089c3163f9e572567,
title = "End effector constrained path planning for 7DOF manipulator",
abstract = "This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner.",
author = "Kyongmo Koo and Xin Jiang and Atsushi Konno and Masaru Uchiyama",
year = "2010",
doi = "10.1109/SII.2010.5708340",
language = "英语",
isbn = "9781424493159",
series = "2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings",
pages = "287--292",
booktitle = "2010 IEEE/SICE International Symposium on System Integration",
note = "3rd International Symposium on System Integration, SII 2010 ; Conference date: 21-12-2010 Through 22-12-2010",
}