Collision-Free Trajectory Planning for Two Manipulators (The Case of Specified Joint Paths)

Akira Mohri, Shinya Marushima, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review


In this paper a method for collision-free trajectory planning along specified paths of two manipulators in a common workspace is presented. One of two manipulators is designated to be the master and the other the slave by giving motion priority. The motion of the master is constrained by limitations of input torques/forces and that of the slave by limitations of input toques/forces and collision-free conditions. The dynamic equation of the manipulator is expressed by the path parameter‘s’ which does not depend on time. The quantity λ(s) which connects the time t and the path parameter ‘s’ is introduced. Optimizations of λ(s)'s for minimizations of travelling times are carried out by the dynamic programming for the master and the slave. Finally, the proposed method is applied to two manipulators with two links. Numerical result of the example shows the effectiveness of the method.

Original languageEnglish
Pages (from-to)1985-1990
Number of pages6
Journaltransactions of the japan society of mechanical engineers series c
Issue number538
Publication statusPublished - 1991

All Science Journal Classification (ASJC) codes

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


Dive into the research topics of 'Collision-Free Trajectory Planning for Two Manipulators (The Case of Specified Joint Paths)'. Together they form a unique fingerprint.

Cite this