The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.
@article{arxiv.2108.00762,
title = {Redundancy Resolution in Kinematic Control of Serial Manipulators in Multi-Obstacle Environment},
author = {Wanda Zhao and Anatol Pashkevich and Damien Chablat},
journal= {arXiv preprint arXiv:2108.00762},
year = {2021}
}