The paper computes, before motion starts, the largest per-step path adjustment a redundant robot arm can tolerate and still finish the whole path without violating joint limits.
(Eds.), Informatics in Control, Automation and Robotics, Springer International Publishing, Cham
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Dynamic Programming-Based Offline Redundancy Resolution of Redundant Manipulators Along Prescribed Paths with Real-Time Adjustment
The paper computes, before motion starts, the largest per-step path adjustment a redundant robot arm can tolerate and still finish the whole path without violating joint limits.