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Collision avoidance: divide-and-conquer approach by space characterization and intermediate goals

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2 Author(s)
Hasegawa, T. ; Electrotech. Lab., MITI, Ibaraki, Japan ; Terasaki, H.

An efficient method that finds collision-free paths for a manipulator with six revolute joints is described. A global structure of the free space in the three-dimensional (3-D) joint space of the arm of a large open space in the workspace, defined as a space where any orientation of the hand is possible, is represented in this description

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:18 ,  Issue: 3 )