A fast approach for the path planning of telerobotic manipulators
- 31 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 289-294 vol.2
- https://doi.org/10.1109/robot.1993.292160
Abstract
A fast procedure for the robust path planning of telerobotic manipulators is presented. The approach is based on solving a linear system of equations taking into account a null space vector for obstacle avoidance, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This method allows the simultaneous pursuit of both obstacle avoidance and singularities prevention on-line in a sensor based environment.Keywords
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