Obstacle Avoidance for Redundant Manipulators Utilizing a Backward Quadratic Search Algorithm

Obstacle avoidance can be achieved as a secondary task by appropriate inverse kinematics (IK) resolution of redundant manipulators. Most prior literature requires the time-consuming determination of the closest point to the obstacle for every calculation step. Aiming at the relief of computational b...

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Bibliographic Details
Main Authors: Tianjian Hu, Tianshu Wang, Junfeng Li, Weiping Qian
Format: Article
Language:English
Published: SAGE Publishing 2016-06-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/63934