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.

翻译：本文侧重于在由多时态部分组成的新型序列操纵机的动态控制中的冗余分辨率,这些机体正在多孔环境中移动,一般问题分解成两个小问题,涉及机器人最终作用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编程解决的,第二个是使用具有线性/非平等性混合制约的二次编程,拟议技术的效率得到模拟的确认。