Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint

Kevin M. Lynch, Naoji Shiroma, Hirohiko Arai, Kazuo Tanie. Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint. I. J. Robotic Res., 19(12):1171-1184, 2000. [doi]

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