Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamical Systems based Obstacle Avoidance with Workspace Constraint for
  Manipulators   In this paper, based on Dynamical Systems (DS), we present an obstacle
avoidance method that take into account workspace constraint for serial
manipulators. Two modulation matrices that consider the effect of an obstacle
and the workspace of a manipulator are determined when the obstacle does not
intersect the workspace boundary and when the obstacle intersects the workspace
boundary respectively. Using the modulation matrices, an original DS is
deformed. The proposed approach can ensure that the trajectory of the
manipulator computed according to the deformed DS neither penetrate the
obstacle nor go out of the workspace. We validate the effectiveness of the
approach in the simulations and experiments on the left arm of the UBTECH
humanoid robot.

36
The categories of this paper are: cmp-lg
13
The categories of this paper are: quant-ph
37
The categories of this paper are: supr-con
34
The categories of this paper are: chem-ph
18
The categories of this paper are: econ
20
The categories of this paper are: acc-phys
29
The categories of this paper are: funct-an
31
The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph
27
The categories of this paper are: comp-gas
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
26
The categories of this paper are: bayes-an
15
The categories of this paper are: nucl-ex