A new pseudoinverse for manipulator collision avoidance

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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...

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Bibliographic Details
Main Authors:	Padula, Fabrizio, Perdereau, V.
Format:	Conference Paper
Published:	2011
Online Access:	http://hdl.handle.net/20.500.11937/52289

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