Obstacle Avoidance of Manipulators by using Freedom in the Coordinates Transformation for Exact Linearization

Abstract

This paper is concerned with an application of the use of freedom in the coordinates transformation for exact linearizaion. We apply this technique to obstacle avoidance of a manipulator in the master-slave control. We show how to use the freedom for such an object and give the way to construct the linearizing coordinates transformation and feedback. And we evaluate the effectiveness of our technique by experiments.