3 accepted papers
Smooth position and orientation interpolation has a great effect on the performance of robot manipulators. Interpolation between several via positions can be done in a straightforward manner, which is well covered in the literature. However, generating a suitable trajectory between several orientati
Recent physics-based models of concentric tube continuum robots are able to describe pose of the tip, given the preformed translation and rotation in joint space of the robot. However, such model-based approaches are associated with high computational load and highly non-linear modeling effort. A da…
In this paper we introduce a novel point-to-point trajectory planner for serial robotic structures that combines the ability to avoid self-collisions and to respect motion constraints, while complying with the requirement of being C4 continuous. The latter property makes our approach also suited for…