Path following by the end-effector of a redundant manipulator operating in a dynamic environment

@article{Galicki2004PathFB,
  title={Path following by the end-effector of a redundant manipulator operating in a dynamic environment},
  author={Miroslaw Galicki},
  journal={IEEE Transactions on Robotics},
  year={2004},
  volume={20},
  pages={1018-1025}
}
This paper addresses the problem of generating at the control-loop level a collision-free trajectory for a redundant manipulator operating in dynamic environments which include moving obstacles. The task of the robot is to follow, by the end-effector, a prescribed geometric path given in the work space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Provided that a solution to the aforementioned robot task… CONTINUE READING

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