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Real-time control of redundant robotic manipulators for mobile obstacle avoidance

2002
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Robotics and Autonomous Systems
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This paper offers an efficient solution for the real-time operation of a redundant robot moving in a variable environment. An approach for fixed and mobile obstacle avoidance is proposed. The basic idea is to solve the redundancy as an unconstrained optimization problem where the redundancy is integrated with the path tracking and the obstacle avoidance constraints into an augmented objective function. Here, an iterative solution of the Inverse Geometric Model (IGM) is used, which requires no

doi:10.1016/s0921-8890(02)00274-9
fatcat:eysakxtfg5galfmyyxpehab4pu