A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function.

Hirohisa Hirukawa Shinzo Kitamura A collision avoidance method for robot manipulators based on the safety first algorithm and the potential function. 43-57 1989 4 Advanced Robotics 1 http://dx.doi.org/10.1163/156855390X00044 db/journals/ar/ar4.html#HirukawaK89