---
title: "Collision Detection and Avoidance in Computer Controlled Manipulators"
authors:
  - "S. M. Udupa"
doi: ""
url: "https://ijcai.org/proceedings/1977/177"
pdf: "https://ijcai.org/proceedings/1977/0177.pdf"
venue: "Proceedings of the Fifth International Joint Conference on Artificial Intelligence"
year: 1977
pages: "737-747"
track: "Robotics"
keywords:
---

# Collision Detection and Avoidance in Computer Controlled Manipulators

S. M. Udupa

*Proceedings of the Fifth International Joint Conference on Artificial Intelligence*, pages 737-747.

## Abstract

The problem of planning safe trajectories for computer controlled manipulators with two movable links and multiple degrees of freedom is analyzed, and a solution to the problem proposed.