Novel Method of Obstacle Avoidance Planning for Redundant Sliding Manipulators

In this paper, a weighted additional deviation velocity on the basis of the gradient projection (GP-WADV) method is proposed to solve obstacle avoidance problems of the redundant manipulator under the condition of known end-effector trajectory. The GP-WADV method aims to find the point closest to th...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Jinguo Liu, Yuchuang Tong, Zhaojie Ju, Yuwang Liu
Format:	Article
Language:	English
Published:	IEEE 2020-01-01
Subjects:	Additional deviation velocity method gradient projection method obstacle avoidance redundant manipulator weighted method
Online Access:	https://ieeexplore.ieee.org/document/9078679/