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  1. No Access

    Article

    Collision-avoidance for redundant robots through control of the self-motion of the manipulator

    A new method to on-line collision-avoidance of the links of redundant robots with obstacles is presented. The method allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles w...

    N. Rahmanian-Shahri, I. Troch in Journal of Intelligent and Robotic Systems (1996)

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    Article

    Guest editorial: Robot control

    I. Troch, F. Breitenecker in Journal of Intelligent and Robotic Systems (1996)

  3. No Access

    Chapter

    On-Line Collision-Recognition and Collision-Avoidance Control for Redundant Articulated Robots

    This work 1 presents a suitable mathematical formulation of robot and obstacles such that for on-line collision recognition only robot joint positions in the workspace are required. This reduces calculation time ...

    N. Rahmanian-Shahri, I. Troch in Recent Advances in Robot Kinematics (1996)

  4. No Access

    Article

    Time-optimal path generation for continuous and quasi-continuous path control of industrial robots

    For a given continuous path, the problem of designing a time-optimal time-parametrization is considered. First, algorithms are presented which, under rather mild assumptions, yield the exact solution within tw...

    I. Troch in Journal of Intelligent and Robotic Systems (1989)