Control Algorithms for On-Line Obstacle Avoidance for Redundant Robots
نویسندگان
چکیده
The paper deals with on-line obstacle avoidance algorithms. We compare some obstacle avoidance strategies and group them into velocity and force strategies. The emphasis in the paper is given to the redundancy resolution and integration of these algorithms into the close-loop control. We address the problem of singular configurations and propose an algorithm based on artificial forces which avoids the problem of singular configurations. The efficiency of the proposed control algorithm is illustrated by the simulation.
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