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Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles

  • M. Anthimopoulou
  • N. Aspragathos
Conference paper

Abstract

A method for kinematic control of redundant manipulators moving in a plane cluttered with convex planar obstacles has been developed.

The method permits the tip of the hand to approach any arbitrary point in the free space while the kinematic control algorithm maximizes the distance of the joints from the obstacles.

The method is presented analytically and its effectiveness is illustrated by simulating the motion of a manipulator between obstacles.

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References

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • M. Anthimopoulou
    • 1
  • N. Aspragathos
    • 1
  1. 1.Mechanical Engineering DepartmentUniversity of PatrasPatrasGreece

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