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Constraints identification in time-varying obstacle avoidance for mechanical manipulators

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1 Author(s)
B. H. Lee ; Dept. of Control & Instrum. Eng., Seoul Nat. Univ., Kwanak-ku, Seoul, South Korea

The time-varying obstacle avoidance problem is considered mathematically. The manipulator motion is described in terms of constrained motions, which are classified into two categories: the environmental constraints and the manipulator constraints. The constraints are converted into the reachable path segment at each servo time instant to verify the existence of a collision-free trajectory

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:19 ,  Issue: 1 )