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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...
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Article
Guest editorial: Robot control
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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 ...
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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...