NASA NTRS · 19910000540
Redundant Robot Can Avoid Obstacles
Abstract
Simple and direct control scheme enables redundant robot to avoid obstacles in workspace. In proposed scheme, called "configuration control", degrees of freedom used to configure robot to satisfy set of inequality constraints representing avoidance of obstacles, while simultaneously making end effector follow desired trajectory. Provides capability to avoid obstacles in dynamically varying environment where apriori planning of tasks not feasible.
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Homayoun, Seraji, Colbaugh, Richard, Glass, Kristin. 1991-10-01. Redundant Robot Can Avoid Obstacles. https://ntrs.nasa.gov/citations/19910000540
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