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Trajectory realization with collision avoidance algorithm

This paper describes the approach to collision avoidance problem for 3-DOF anthropomorphic robot manipulators. The novelty of the approach is the decomposition of 3D space to two 2D spaces. Resulting is the computationally efficient algorithm, suitable for implementation in the real-time systems. Simulation of the anthropomorphic manipulator operating in three dimensional space with obstacles is also presented.