Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles
Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obsta...
Main Authors: | Liangliang Zhao, Zainan Jiang, Yongjun Sun, Jingdong Zhao, Hong Liu |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2021-02-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881421996148 |
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