Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments

  title={Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments},
  author={Anthony A. Maciejewski and Charles A. Klein},
  journal={The International Journal of Robotics Research},
  pages={109 - 117}
The vast majority of work to date concerned with obstacle avoidance for manipulators has dealt with task descriptions in the form ofpick-and-place movements. The added flexibil ity in motion control for manipulators possessing redundant degrees offreedom permits the consideration of obstacle avoidance in the context of a specified end-effector trajectory as the task description. Such a task definition is a more accurate model for such tasks as spray painting or arc weld ing. The approach… Expand

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