A simple method for the collision avoidance of telerobotic manipulators
René V. Mayorga, Farrokh Janabi‐Sharifi, Andrew K. C. Wong · 2002
In this article a fast and simple method for the motion planning of telerobotic manipulators is presented. It is based on solving numerically a linear system of equations that includes a simple null space vector for obstacle avoidance, and an efficient procedure for the appropriate damping of the pseudoinverse matrix. This approach enables the pursuance simultaneously, of both collision avoidance and singularities prevention on-line in a sensor based environment. These properties also make it suitable for entirely autonomous operations.>