@article{patel_collision-avoidance_2005,
	title = {A collision-avoidance scheme for redundant manipulators: {Theory} and experiments},
	volume = {22},
	issn = {1097-4563},
	shorttitle = {A collision-avoidance scheme for redundant manipulators},
	url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.20096/abstract},
	doi = {10.1002/rob.20096},
	abstract = {The development of a collision- and self-collision-avoidance scheme for redundant manipulators is discussed in this paper. The method is based on modeling the arm and its environment by simple geometric primitives (cylinders and spheres). A compact method of detecting collisions between two cylinders is introduced. By resorting to the notions of dual angles and dual vectors for representing the axes of cylinders in space, a characterization of different types of collisions is introduced. The performance of the proposed scheme is demonstrated for a seven degrees-of-freedom redundant manipulator via simulations and experiments. © 2005 Wiley Periodicals, Inc.},
	language = {en},
	number = {12},
	journal = {Journal of Robotic Systems},
	author = {Patel, R. V. and Shadpey, F. and Ranjbaran, F. and Angeles, J.},
	month = dec,
	year = {2005},
	pages = {737--757}
}

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