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A 7DOF Manipulator Control in an Unknown Environment based on an Exact Algorithm

Authors: Pavel K. Lopatin, Artyom S. Yegorov


An exact algorithm for a n-link manipulator movement amidst arbitrary unknown static obstacles is presented. The algorithm guarantees the reaching of a target configuration of the manipulator in a finite number of steps. The algorithm is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the exact algorithm implementation for the control of a seven link (7 degrees of freedom, 7DOF) manipulator are given.

Keywords: Trajectory Planning, manipulator, unknown obstacles

Digital Object Identifier (DOI):

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