In this paper, disk-like obstacles for a planar three-bar mechanism are classified. The extended Jacobian technique is used to implement an obstacle avoidance ...
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Work reported by Yoshikawa. (1984b) focuses on the use of distance-like optimality criteria to simultaneously resolve re- dundancy and avoid obstacles. The ...
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In this paper, a recurrent neural network called the Lagrangian network is applied for obstacle avoidance in kinematically redundant manipulators.
An improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator.
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This formulation is shown to resolve deficiencies in the generalized inverse velocity formulation, especially for high-degree-of-redundancy manipulators.
Summary: The extended Jacobian technique is used to implement an obstacle avoidance technique based on optimizing a distance criterion and the feasibility of ...
This paper investigates the neural network approach to solve the inverse kinematics problem of redundant robot manipulators in an environment with obstacles ...
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The approach presented here is to determine the re quired joint angle rates for the manipulator under the con straints of multiple goals.
The paper deals with kinematic control algorithms for on-line obstacle avoidance which allow a kinematically redundant manipulator to move in an ...
The article presents a new and simple solution to the obstacle avoidance problem for redundant robots. In the proposed approach, called configuration ...