Simple and direct control scheme enables redundant robot to avoid obstacles in workspace. In proposed scheme, called "configuration control", degrees of freedom used to configure robot to satisfy set of inequality constraints representing avoidance of obstacles, while simultaneously making end effector follow desired trajectory. Provides capability to avoid obstacles in dynamically varying environment where apriori planning of tasks not feasible.


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    Title :

    Redundant Robot Can Avoid Obstacles


    Contributors:

    Published in:

    Publication date :

    1991-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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