A dynamic programming algorithm for a 7-DOF redundant manipulator that selects constraint-satisfying joint angles along a fixed Cartesian path and minimizes the number of required breakpoints, including a starting-point adjustment for circular paths.
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Dynamic Programming-Based Redundancy Resolution for Path Planning of Redundant Manipulators Considering Breakpoints
A dynamic programming algorithm for a 7-DOF redundant manipulator that selects constraint-satisfying joint angles along a fixed Cartesian path and minimizes the number of required breakpoints, including a starting-point adjustment for circular paths.