Abstract
Abstract This paper introduces motion planning algorithms that are suitable for real-time applications with dexterous manipulators. Developed motion planner obtains needed efficiency by using the Cartesian space information, and therefore avoids the dimensionality problem of the configuration space. In this work, a skillful planner is developed together with a post-processing path-smoothing technique, which is independent from the planner. A comparison with the state-of-the-art planners emphasises the advantages of this approach. Described algorithms successfully operate on a rehabilitation robotic system FRIEND.
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