The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.
该方法使障碍回避过程不再依赖于运动学优化，将冗余度机械臂转化为非冗余度机械臂，直接给出位置形式的逆解。
The approach implements collision avoidance without kinematics optimization and converts the arm into a non-redundant structure to directly calculate its inverse kinematics.
该方法使障碍回避过程不再依赖于运动学优化，将冗余度机械臂转化为非冗余度机械臂，直接给出位置形式的逆解。
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