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Java-Based Harmonic Potential Path Planner

Java-Based Harmonic Potential Path Planner

This applet is an extension of the Java-based PD controller. It incorporates a dynamic simulation of a two-link arm, with implicit PD control, but the positions that are fed to the controller are obtained from a gradient descent of a harmonic potential function (Connolly and Grupen 1993). This applet also illustrates the use of configuration space to generate motion plans.

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