برنامه ریزی حرکت برای دستکاری رباتیک با استفاده از کنترل محدود کنترل شده

This paper presents a novel methodology for motion specification and robust reactive execution. Traditional trajectory generation techniques and optimisation-based control strategies are merged into a unified framework for simultaneous motion planning and control. An experimental case study demonstrates the effectiveness and the robustness of this approach, as applied to an image-guided grasping task.