Factored Planning for Controlling a Robotic Arm: Theory

Jaesik Choi, Eyal Amir

Controlling robotic arms is important for real, physical world applications. Such control is hard because movement of one joint affects the position of many of the rest. In this paper we present an algorithm that finds plans of motion from one arm configuration to a goal arm configuration.

Subjects: 1.11 Planning; 17. Robotics

Submitted: Jun 1, 2006


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