A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.


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    Title :

    Obstacle avoidance for redundant robots using configuration control


    Contributors:

    Publication date :

    1992-09-22


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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