Trajectory planning algorithm with path search for cooperative multiple manipulators

Akira Mohri, Motoji Yamamoto, Go Hirano

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


In this paper, we propose an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators which hold an object and transfer it from a given start point to a given goal point. The dynamic equations of manipulators and the object are expressed by a path parameter's which is the length along the path and 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. And the joint path θi of the i-th manipulator is also expressed by this parameter 's' and written as θi(s). A quality λ(s) which connects the time 't' and the path parameter 's' is introduced. θi(s) and λ(s) are approximated by B-spline. Sub-optimal θi(s) and λ(s) are determined by considering the boundary conditions of both end points and the driving torque/force constraint of each joint of each manipulator. The proposed algorithm is applied to a two-manipulator system. Numerical results show the effectiveness of the algorithm.

Original languageEnglish
Pages (from-to)898-903
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1995
EventProceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can
Duration: Oct 22 1995Oct 25 1995

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture


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