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Whole-arm reactive collision avoidance control of kinematically redundant manipulators

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2 Author(s)
Boddy, C.L. ; Advanced Robotics Res. Ltd., Salford, UK ; Taylor, J.D.

The key features of a control system being developed for whole arm collision avoidance for kinematically redundant manipulators are described. The control system simultaneously deals with multiple detections and provides controlled end-effector path deviation in the event that the range of self-motion available is not sufficient. The system has undergone extensive simulation using an animated model of a manipulator in a variety of workcells. Examples are given

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993