LCPMotionPlanner
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20 hours ago •
Tom-Forsyth
Tom-Forsyth
A task space motion planner with global and local obstacle avoidance for robotic manipulators.
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Kinematic singularities can cause the M matrix of the LCP to lose rank. Detect these singularities and reduce the dimension of the LCP to yield a valid solution.
enhancement
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A task space motion planner with global and local obstacle avoidance for robotic manipulators.