Obstacle avoidance of manipulators by using freedom in the coordinates transformation for exact linearization
نویسندگان
چکیده
This paper is concerned with an application of the use of extra freedom in the coordinates transformation for exact linearizaion. We apply this technique to obstacle avoidance of a manipulator in the master-slave control. We show how to use the freedom for such an object and give the way to construct the linearizing coordinates transformation and feedback. Furthermore we evaluate the e ectiveness of our method by experiments.
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