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...

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Journal Title: Journal of Robotic Systems Vol. 20; no. 1; pp. 23 - 33
Authors: Hashem Ashrafiuon, F. Fahimi, C. Nataraj
Format: Article
Published: Jan 2003
Online Access: Full Text