Constraints identification in time-varying obstacle avoidance for mechanical manipulators
B.H. Lee · IEEE Transactions on Systems Man and Cybernetics · 1989
The time-varying obstacle avoidance problem is considered mathematically. The manipulator motion is described in terms of constrained motions, which are classified into two categories: the environmental constraints and the manipulator constraints. The constraints are converted into the reachable path segment at each servo time instant to verify the existence of a collision-free trajectory.>