2 papers
cs.RO2020
Real-time Whole-body Obstacle Avoidance for 7-DOF Redundant Manipulators
Dake Zheng, Xinyu Wu, Jianxin Pang
Mainly because of the heavy computational costs, the real-time whole-body obstacle avoidance for the redundant manipulators has not been well implemented. This paper presents an ap…
cs.RO2020
Dynamical Systems based Obstacle Avoidance with Workspace Constraint for Manipulators
Dake Zheng, Xinyu Wu, Jianxin Pang
In this paper, based on Dynamical Systems (DS), we present an obstacle avoidance method that take into account workspace constraint for serial manipulators. Two modulation matrices…