Collision-free path planning of a telerobotic manipulator based on swept volume of teleoperated manipulator
Tsutomu Hasegawa, K. Nakagawa, Kouji Murakami · 2004
A new approach to collision-free path planning for a telerobotic manipulator is proposed. Using the swept volume of a slave manipulator teleoperated by a human operator, an online transition to autonomous tele-operation from master-slave manipulation is achieved without any geometric model of the environment. This feature enables a wider application to unstructured environments.