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Obstacle avoidance for redundant robots using configuration control
Obstacle avoidance for redundant robots using configuration control
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机译：使用配置控制来避免冗余机器人的障碍
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摘要
A redundant robot control scheme is provided for avoiding obstacles in a workspace during 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 therebetween is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.
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