A new obstacle avoidance method for discretely actuated hyper-redundant manipulators
نویسندگان
چکیده
منابع مشابه
A new obstacle avoidance method for discretely actuated hyper-redundant manipulators
Binary manipulator; Discrete actuation; Hyper-redundant manipulator; Inverse kinematics; Obstacle avoidance. Abstract In this paper, a newmethod is proposed for solving the obstacle avoidance problem of discretely actuated hyper-redundant manipulators. In each step of the solution, the closest collision to the base is removed and then the configuration of the next part of the manipulator is mod...
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ژورنال
عنوان ژورنال: Scientia Iranica
سال: 2012
ISSN: 1026-3098
DOI: 10.1016/j.scient.2012.06.017