A CGS-based inverse kinematics planner is extended to cubic spline paths, with Dijkstra-based selection of joint configurations reducing total joint motion versus greedy selection.
Research Report RR-5923, INRIA (2006)
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An Optimized Path Planning of Manipulator Using Spline Curves and Real Quantifier Elimination Based on Comprehensive Gr\"obner Systems
A CGS-based inverse kinematics planner is extended to cubic spline paths, with Dijkstra-based selection of joint configurations reducing total joint motion versus greedy selection.