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. 2018 Jul 20;18(7):2355. doi: 10.3390/s18072355

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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The positions of the robot’s arms for Motions I, II, III, IV and V shown in (a–e), respectively. Blue circles and red circles represent the positions determined by the directly mapped and collision-free trajectories, respectively.

The positions of the robot’s arms for Motions I, II, III, IV and V shown in (a–e), respectively. Blue circles and red circles represent the positions determined by the directly mapped and collision-free trajectories, respectively.