The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two sub-problems, which deal with collision-free path planning for the robot end-effector and collision-free motion planning for the robot body. The first of them is solved via discrete dynamic programming, the second one is worked out using quadratic programming with mixed linear equality/nonequality constraints. Efficiency of the proposed technique is confirmed by simulation.

中文翻译：

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多障碍环境下串行机械手运动学控制的冗余解析

本文重点研究了在多障碍环境中运动的由多个张拉整体段组成的新型串行机械手运动控制中的冗余分辨率。一般问题分解为两个子问题，处理机器人末端执行器的无碰撞路径规划和机器人身体的无碰撞运动规划。第一个是通过离散动态规划解决的，第二个是使用具有混合线性等式/非等式约束的二次规划来解决的。所提出的技术的效率通过仿真得到证实。