Redundancy utilization for obstacle avoidance of planar robot manipulators

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

Volumn 211, Issue 6, 1997, Pages 463-475

  Sezgin, U ^a   Seneviratne, L D ^a   Earles, S W E ^a  

^a KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

Configuration optimization; Obstacle avoidance; Redundancy resolution; Redundant manipulators

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; END EFFECTORS; KINEMATICS; MOTION PLANNING; OPTIMIZATION; REDUNDANCY; UNIVERSAL JOINTS;

CONFIGURATION CONTROL POINTS (CCP); KINEMATIC REDUNDANCY; VORONOI BOUNDARIES;

MANIPULATORS;

EID: 0031357745     PISSN: 09544062     EISSN: None     Source Type: Journal    
DOI: 10.1243/0954406971521863     Document Type: Article

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