Cooperative path planning for two manipulators

Akira Mohri, Motoji Yamamoto, Go Hirano

Research output: Contribution to journalConference articlepeer-review

30 Citations (Scopus)


This paper proposes a method of planning collision free joints paths for cooperative two manipulators. When two manipulators hold a common object and execute specified tasks, there are problems related to handling, collision and so many others. To move two manipulators effectively, all of them must be considered together. There are redundancy peculiar to the cooperative two manipulators. We use this redundancy and the potential function method to avoid collisions between the object and the link, the link and the link, the link and the obstacle and so on. Simulation results show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)2853-2858
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: Apr 22 1996Apr 28 1996

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering


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