Cooperative Motion Planning of Two Manipulators for Concave Wall Tracing Task

A motion planning problem of cooperative multiple manipulator system carrying on the wall tracing task in the inner space of the concave object is considered. One manipulator holds the concave object rigidly and the other holds the tool and works in the inner space of the concave object. We only specify the tool task on the object’s inner wall, so the object and manipulators can move arbitrary paths in the world coordinates frame. Using these degrees of freedom, we propose an algorithm to generate joint paths for cooperative grasp-work type manipulator system to accomplish the specified task effectively.