# Actual Shape-Based Obstacle Avoidance Synthesized by Velocity–Acceleration Minimization for Redundant Manipulators: An Optimization Perspective

> Research article (IEEE Transactions on Systems Man and Cybernetics Systems, 2023) · cited 41× · AI/ML

**Wikidata**: [openalex:W4382657913](https://www.wikidata.org/wiki/openalex:W4382657913)  
**Source**: https://4ort.xyz/entity/actual-shape-based-obstacle-avoidance-synthesized-by-velocityacceleration-minimization-for-redundant-manipulators-an-opt