Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function

Xiang Dong Yang, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticlepeer-review


It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.

Original languageEnglish
Pages (from-to)3817-3821
Number of pages5
Journaltransactions of the japan society of mechanical engineers series c
Issue number568
Publication statusPublished - 1993

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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