Collision-avoidance for redundant robots through control of the self-motion of the manipulator.

N. Rahmanian-Shahri Inge Troch Collision-avoidance for redundant robots through control of the self-motion of the manipulator. 123-149 1996 16 Journal of Intelligent and Robotic Systems 2 http://dx.doi.org/10.1007/BF00449702 db/journals/jirs/jirs16.html#Rahmanian-ShahriT96