Optimal Path and Trajectory Planning for Serial Robots

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Focusing on optimal path and trajectory planning for serial robots, the book delves into the complexities of path tracking for kinematically redundant manipulators. It addresses both path tracking tasks and optimal inverse kinematics simultaneously. The author introduces methods for quickly computing approximate optimal solutions to planning challenges with varying parameters, employing an iterative process based on parametric sensitivities to efficiently derive solutions from a nominal problem.