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<p>A method for the collision avoidance of an articulated kinematic chain in a dynamic environment is presented. The inverse kinematic solution is used to get the configuration of the chain for a given position of any part of the chain. The calculation of collision-free motion is based on the local information about the motion. Intermediate positions are used to get the new motion path of the chain. The movement of environmental objects during the collision detection and the generation of new motions are considered. This generalizes the method for arbitrarily configured kinematic chains and for a dynamic environment. Its implementation for the motion planning of robot manipulators in an offline programming system is briefly described.</p>

F. Dai, "Collision-Free Motion of an Articulated Kinematic Chain in a Dynamic Environment," in IEEE Computer Graphics and Applications, vol. 9, no. , pp. 70-74, 1989.
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