The complexity of robotic path planning problems in industrial manufacturing increases
significantly with the current trends of product individualization and flexible production …

Trajectory optimization (TO) is an efficient tool to generate a redundant manipulator's joint
trajectory following a 6-dimensional Cartesian path. The optimization performance largely …

We present a discrete-optimization technique for finding feasible robot arm trajectories that
pass through provided 6-DOF Cartesian-space end-effector paths with high accuracy, a …

As collaborative robots move closer to human environments, motion generation and reactive
planning strategies that allow for elaborate task execution with minimal easy-to-implement …

A redundant manipulator has multiple inverse kinematics solutions per end-effector pose.
Accordingly, there can be many trajectories for joints that follow a given end-effector path in …

Many applications require a robot to accurately track reference end-effector trajectories.
Certain trajectories may not be tracked as single, continuous paths due to the robot's …

We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK,
that is able to not only accurately match end-effector pose goals as done by traditional IK …

This paper introduces a comprehensive user-guided planning framework designed for
robots operating in dynamic, human-centered environments–where the ability to execute …

Many applications in robotics require computing a robot manipulator's" proximity" to a
collision state in a given configuration. This collision proximity is commonly framed as a …

A redundant manipulator can have many trajectories for joints that follow a given end-
effector path in the Cartesian space, since it has multiple inverse kinematics solutions per …