Real-Time Collision Avoidance for Dexterous 7-DOF Arms

Bruce Bon,Homayoun Seraji

Real-Time Collision Avoidance for Dexterous 7-DOF Arms

1996

Bruce Bon
Homayoun Seraji

A new approach to real-time collison avoidance for dexterous 7-DOF arms and supportive simulation and experimental results are presented. The collision avoidance problem is formulated and solved as a force control problem.

Keywords:

Control theory
Collision
Computer science

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