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The authors present a straightforward method to handle collision avoidance among multiple robot manipulators. The method allows manipulators to move from a specified starting point to a goal without colliding with any other manipulators or objects in their 3D environment. Potential fields guide the end-effector through Cartesian space, and parallel genetic algorithms calculate suitable joint variables for the manipulator trajectory.
Mark A.C. Gill, Albert Y. Zomaya, "A Parallel Collision-Avoidance Algorithm for Robot Manipulators", IEEE Concurrency (out of print), vol. 6, no. , pp. 68-78, January-March 1998, doi:10.1109/4434.656781
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