Obstacle Avoidance for Spatial Hyper-Redundant Manipulators Using Harmonic Potential Functions and the Mode Shape Technique.
This paper deals with the obstacle avoidance problem for spatial hyper-redundant manipulators in known environments. The manipulator is divided into two sections, a proximal section that has not entered the space among the obstacles and a distal section among the obstacles. Harmonic potential functi...
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