Collision-avoidance control for redundant articulated robots. - N. Rahmanian-Shahri; Inge Troch (Robotica, 1995)

Collision-avoidance for redundant robots through control of the self-motion of the manipulator. - N. Rahmanian-Shahri; Inge Troch (J. Intell. Robotic Syst., 1996)

A new on-line method to avoid collisions with links of redundant articulated robots. - N. Rahmanian-Shahri; Inge Troch (Robotica, 1996)