Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators

The problem of generating collision-free motion in an operator-assisted teleoperated robot arm manipulator system is discussed. The concentration is on several system requirements: a real real-time operation, a guarantee of collision-free motion for the entire body of the arm manipulator, and an ability to handle obstacles of arbitrary shapes. The suggested methodology draws on recent work on motion planning with incomplete information for whole-sensitive robots.>