NASA NTRS · 19920023775
Obstacle avoidance for redundant robots using configuration control
Abstract
A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.
Keep this discovery
Explore connections, maps & timelines
Seraji, Homayoun, Colbaugh, Richard D., Glass, Kristin L.. 1992-09-22. Obstacle avoidance for redundant robots using configuration control. https://ntrs.nasa.gov/citations/19920023775
Cite the original work for its findings. Save a collection to share your selection of sources.