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�������պ����ѧѧ�� 2004, Vol. 30 Issue (04) :349-352    DOI:
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������1, սǿ1, �ﺺ��2*
1. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083;
2. �����ʵ��ѧ �Զ���ѧԺ������ 100876
Research on collision-free motion planning of dual redundant manipulators
Jia Qingxuan1, Zhan Qiang1, Sun Hanxu2*
1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics�� Beijing 100083, China;
2. School of Automation, Beijing Post and Equipment University, Beijing 100876, China

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Abstract�� Collision-avoidance based motion planning of dual redundant manipulators was analyzed and researched. A method based on distance function was improved and simulation results show the feasibility and usefulness of the work.
Keywords�� planning   collision prevention   redundant manipulator     
Received 2003-11-15;


About author: ������(1965-),��,ɽ��������,��ʿ��, sdjqx@sohu.com.
������, սǿ, �ﺺ��.˫����Ȼ����˵ı����˶��滮�����о�[J]  �������պ����ѧѧ��, 2004,V30(04): 349-352
Jia Qingxuan, Zhan Qiang, Sun Hanxu.Research on collision-free motion planning of dual redundant manipulators[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2004,V30(04): 349-352
http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2004/V30/I04/349
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