Obstacle avoidance for spatial hyper-redundant manipulators using harmonic potential functions and the mode shape technique
This paper deals with the obstacle avoidance problem for spatial hyper-redundant manipulators in known environments. The manipulators is divided into two sections, a proximal section that has not entered the space among the obstacles and a distal section among the obstacles. Harmonic potential funct...
|Journal Title:||Journal of Robotic Systems Vol. 20; no. 1; pp. 23 - 33|
|Authors:||Hashem Ashrafiuon, F. Fahimi, C. Nataraj|