Abstract
There are various methods of planning paths for anthropomorphic manipulators that allow to bypass the obstacle and to work in real time. One of these methods was developed by the authors for circumventing an obstacle, which was approximated by a sphere. The approximation by a sphere of elongated obstacles overstates their size that leads to an excessive length of the path of avoiding the obstacle. The developed method combines analytical and numerical solutions with relatively low computational complexity, allowing it to work in real time. The effectiveness of the method is illustrated by a numerical example. The trajectory of the anthropomorphic manipulator required for its movement can be obtained using the existing methods of generating a trajectory based on the path of movement calculated using the proposed method. The developed method can be implemented in the systems of intellectual or supervisory control by anthropomorphic manipulators.
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