Motion planning under Cartesian constraints

In this task, an orientation constraint has been imposed to the planner such that the orientation of end effector is fixed during the task. The planner checks the self-collision and collision between robot and the environment.

Corresponding paper in IROS 2015.

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Indraneel
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Indraneel

Dear Sir!
Loved your work in this video. I would love to read the corresponding paper. Unluckily it does seem like the link is broken.

Can you help me find your paper?

Thanks and regards,
Yours sincerely,
Indraneel.