Mathematical Problems in Engineering / 2017 / Article / Fig 1

Research Article

The Optimal Collision Avoidance Trajectory Planning of Redundant Manipulators in the Process of Grinding Ceramic Billet Surface

Figure 1

Replanning in a given time to obtain multiple collision avoidance trajectories. In the figure, , , and represent the different obstacles in the environment. , , , and denote the different collision avoidance trajectories.

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