Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm
Abstract
This paper proposes a model-free control framework for the path planning of the rigid and soft robotic manipulator using an intelligent algorithm called Weighted Jacobian Rapidly-exploring Random Tree (WJRRT). The optimization approach is used to model the path planning problem, which is independent of the robotic model, and then used the WJRRT algorithm to solve it. WJRRT algorithm not only explores the cartesian space for the end-effector of...
Paper Details
Title
Control Framework for Trajectory Planning of Soft Manipulator Using Optimized RRT Algorithm
Published Date
Sep 18, 2020
Journal
Volume
8
Pages
171730 - 171743
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