Motion Level Modifications for Collision Avoidance of Two Manipulators

두 매니퓰레이터의 충돌 회피를 위한 동작단계 수정법

This paper presents the recent findings for collision avoidance of two manipulators in terms of motion level modifications. The collision situation we assume here is that the prespecified final time Kf and the prespecified path of one robot can be modified for the purpose of collision avoidance with the other robot. The collision avoidance problem is resolved into three independent categories for a systematic approach.