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For this purpose, the local rotation coordinate method (LRCM) is proposed for end-effector to avoid the obstacles that are located in the moving path and LRCM can be described as follows.
And the LRCM can be described by a diagram as shown in Figure 7(d).
Simulation of LRCM. The second part of the simulation is to verify the feasibility of LRCM.
Having obtained the stationary phase point, we should reintroduce the LRCM term to calculate 2D frequency spectrum of the echo signal.
(1.) Del Ciampo, LA, Ricco, RG, Almeida CA de, BoniIha LRCM, Santos TCC.
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