Collision free trajectory planning for cooperative multiple manipulators

Akira Mohri, Go Hirano, Motoji Yamamoto

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


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 languageEnglish
Pages (from-to)128-133
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1996
EventProceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics - Beijing, China
Duration: Oct 14 1996Oct 17 1996

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture


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