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