%0 Journal Article
	%A Pavel K. Lopatin and  Artyom S. Yegorov
	%D 2008
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 17, 2008
	%T A 7DOF Manipulator Control in an Unknown Environment based on an Exact Algorithm
	%U https://publications.waset.org/pdf/14501
	%V 17
	%X 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.
	%P 746 - 751