Abstract
In this paper, we propose a method of planning collision free trajectories for cooperative multiple manipulators. The dynamic equations of manipulators and the object are expressed by a path parameter `s' which does not depend on the time `t' explicitly. Using this parameter `s', we express the position of the center of gravity and the attitude of the object as p(s) and φ(s) respectively. The joint path θi of the i-th manipulator is also expressed by this parameter `s' and written as θi(s). A quantity λ(s) which connects the time `t' and the path parameter `s' is introduced. θi(s) and λ(s) are approximated by B-spline. Obstacles are artificially transferred to obtain initial collision free trajectories and gradually restored. Sub-optimal θi(s) and λ(s) are determined by considering the boundary conditions of the start and goal points, the driving torque/force constraint of each joint of each manipulator and collision free condition. The proposed method is applied to a two-manipulator system. Numerical results show the effectiveness of the method.
| Original language | English |
|---|---|
| Pages (from-to) | 128-133 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 1 |
| Publication status | Published - 1996 |
| Event | Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics - Beijing, China Duration: Oct 14 1996 → Oct 17 1996 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Hardware and Architecture