The redundancy of robot manipulators plays an important role in increasing their flexibility and versatility, especially in an environment with obstacles. In this paper, the redundancy is utilized for enabling collision-free motion for a given tra jectory of a manipulator hand. The calculation of the corre sponding trajectory in the space of joint coordinates is per formed using several performance criteria that take into account the vicinity of the obstacles. The advantages and shortcomings of the proposed algorithms are discussed. The implementation of the algorithms is real-time due to modest computational complexity.
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