A new pseudoinverse for manipulator collision avoidance
This paper presents a control system architecture for robot manipulator suitable for on line path planning in a cluttered environment. The proposed technique fits for both redundant and non redundant manipulators. We use potential fields in order to control the joint velocities to make the manipulat...
| Main Authors: | , |
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| Format: | Conference Paper |
| Published: |
2011
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| Online Access: | http://hdl.handle.net/20.500.11937/52289 |