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A new approach of fast collision-free motion planning for underactuated robots based on genetic algorithm is proposed. The collision avoidance problem is formulated and solved as a position-based force control problem. Virtual generalized force representing the intrusion of the arm into the obstacle dangerous zone is computed in real time using a virtual spring-damper model. The partly stable controllers...
A new method based on virtual spring-damper model is proposed for collision-free trajectory planning of planar underactuated robots. The generalized forces of nonholonomic constraints equations are modified by the virtual spring-damper model when there are obstacles in workspace. The partly stable controllers are adopted and the energy based fitness function is built, then the best switching sequence...
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