A fast approach for the path planning of telerobotic manipulators

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. >