2 papers
cs.RO2025
Dynamic Programming-Based Offline Redundancy Resolution of Redundant Manipulators Along Prescribed Paths with Real-Time Adjustment
Zhihang Yin, Fa Wu, Ziqian Wang +3
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the mani…
cs.RO2024
Dynamic Programming-Based Redundancy Resolution for Path Planning of Redundant Manipulators Considering Breakpoints
Zhihang Yin, Fa Wu, Ruofan Bian +4
This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on…