Unverified50% confidenceFactExact time
球形碰撞约束表现为不等式约束 ‖p_ee - p_obs‖² ≥ r²，其中p_ee是末端执行器位置，p_obs是障碍球心，r是安全半径
1
Sources
50%
Confidence
Long-term
Relevance
8/13/2026
First Seen
Sources
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