On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

@article{Chen2002OnlineMB,
  title={On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace},
  author={Jin-Liang Chen and Jing-Sin Liu and Wan-Chi Lee and Tzu-Chen Liang},
  journal={Robotica},
  year={2002},
  volume={20},
  pages={625 - 636}
}
The manipulator with a large degree of redundancy is useful for realizing multiple tasks such as maneuvering the robotic arms in the constrained workspace, e.g. the task of maneuvering the end-effector of the manipulator along a pre-specified path into a window. This paper presents an on-line technique based on a posture generation rule to compute a null-space joint velocity vector in a singularity-robust redundancy resolution method. This rule suggests that the end of each link has to track an… 

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