基于二分试探的平面冗余机械臂碰撞检测与避障
张建华, 任宝珍, 赵岩, 徐永强, 刘璇
Collision Detection and Obstacle Avoidance of Planar Redundant Manipulator based on Dichotomous Heuristic
ZHANG Jianhua, REN Baozhen, ZHAO Yan, XU Yongqiang, LIU Xuan
机械工程学报
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2023, (1): 113
-122
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DOI: 10.3901/JME.2023.01.113
