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

Pseudocode 1

The pseudocode of Step 2.

RRTConnect

do

if(==1)

if ((==1)&&(==1))

push back ;

++;

else

;

;

end if

else ;

end if

while( 8 s)