Abstract
Autonomous robotic systems (manipulators, mobile robots, mobile manipulators) are used in factories to perform difficult tasks such as assembly, welding, painting, material handling etc. and in other real-life environments for various service tasks (domestic, health care etc.) [1,2]. Two basic problems in autonomous robotic systems are:(i) the path and motion planning problem, and (ii) the motion control problem. Given the path provided by the path planner, the robot motion motors/wheels are driven by appropriate controllers, so that the motion is performed smoothly and accurately along the planned path to arrive at the destination points. If a robotic manipulator is equipped with sensors, its trajectory and control can be modified by contact forces or tactile signals occurring during motion (compliant motion control).
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