Pregledni rad
https://doi.org/10.21857/m8vqrt3p19
Motion planning for robotic manipulation
Ivan Petrović
orcid.org/0000-0001-9961-5627
; Faculty of Electrical Engineering and Computing
Filip Marić
; Faculty of Electrical Engineering and Computing
Luka Petrović
orcid.org/0000-0002-6191-1145
; Faculty of Electrical Engineering and Computing
Ivan Marković
; Faculty of Electrical Engineering and Computing
Sažetak
Robotic manipulators are a class of robots specialized for tasks that involve picking up, placing and manipulating objects, motion coordination, and signaling. Motion planning is a fundamental problem in robotics that involves computing feasible joint space trajectories for a robot to execute, connecting multiple states defined by task constraints. Due to the wide variability of robot structures and environments, there are a variety of methods for solving this problem. These methods are often complementary and interchangeable, making it difficult to categorize and formulate them with common terminology. In this paper, we list methods and approaches, and place them in the context of the broader problem of motion planning. We begin with an overview of sampling and graph-based methods used in path planning, where a path is defined by a discrete set of configurations. We then continue with an overview of methods for inverse kinematics and trajectory optimization. We discuss the challenges in these methods and approaches to solving them, and review some of the recent advances in the field.
Ključne riječi
robotic manipulation; motion planning; inverse kinematics; trajectory optimization
Hrčak ID:
343846
URI
Datum izdavanja:
27.1.2026.
Posjeta: 1.112 *