Collision-Free Path Planning of a Telerobotic Manipulator based on Swept Volume of Teleoperated Manipulator

A new approach to collision-free path planning for a telerobotic manipulator is proposed. Using swept volume of a slave manipulator tele-operated by a human operator, on-line transition to autonomous tele-operation from master-slave manipulation is achieved without any geometric model of an environment. This feature enables wider application to unstructured environment.

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