A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s m...

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Bibliographic Details

Published in:	Machines
Main Authors:	Cecilia Scoccia, Giacomo Palmieri, Matteo Claudio Palpacelli, Massimo Callegari
Format:	Article
Language:	English
Published:	MDPI AG 2021-02-01
Subjects:	collaborative robotics trajectory planning obstacle avoidance redundant manipulator Bezier curves
Online Access:	https://www.mdpi.com/2075-1702/9/2/30