Instantaneous trajectory planning for redundant manipulator in the presence of obstacles

  • Chiung-Li Lee
  • Micheal W. Walker
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 130)


Constraint Equation Obstacle Avoidance Trajectory Planning Convex Polytopes Joint Velocity 
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Copyright information

© Springer-Verlag 1989

Authors and Affiliations

  • Chiung-Li Lee
    • 1
  • Micheal W. Walker
    • 1
  1. 1.Department of EECSUniversity of MichiganUSA

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