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In this paper, a modeling, planning and remote control of a redundant manipulator for a semi-structured ldquounder vehiclerdquo environment is investigated. The geometric characteristic is abstracted by the distance laser sensory information and collision danger is measured in real time to activate the self-motion of reshaping the configuration. To make a real time solution, a intuitive collision avoidance method is presented for planar manipulator. Incorporating the algorithm with the supervisory control framework, a dynamic trajectory planning algorithm is presented for rapidness requirement of bomb disposal tasks. The simulation and experiments prove the effectiveness of presented method.
Date of Conference: 20-23 June 2008