Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function

Xiang Dong Yang, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticle

Abstract

It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.

Original languageEnglish
Pages (from-to)3817-3821
Number of pages5
Journaltransactions of the japan society of mechanical engineers series c
Volume59
Issue number568
DOIs
Publication statusPublished - Jan 1 1993

Fingerprint

Motion planning
Manipulators
Computer simulation

All Science Journal Classification (ASJC) codes

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

Cite this

Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function. / Yang, Xiang Dong; Yamamoto, Motoji; Mohri, Akira.

In: transactions of the japan society of mechanical engineers series c, Vol. 59, No. 568, 01.01.1993, p. 3817-3821.

Research output: Contribution to journalArticle

@article{39980fda8aec4db28d3ce470ee8641a4,
title = "Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function",
abstract = "It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.",
author = "Yang, {Xiang Dong} and Motoji Yamamoto and Akira Mohri",
year = "1993",
month = "1",
day = "1",
doi = "10.1299/kikaic.59.3817",
language = "English",
volume = "59",
pages = "3817--3821",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "The Japan Society of Mechanical Engineers",
number = "568",

}

TY - JOUR

T1 - Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function

AU - Yang, Xiang Dong

AU - Yamamoto, Motoji

AU - Mohri, Akira

PY - 1993/1/1

Y1 - 1993/1/1

N2 - It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.

AB - It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.

UR - http://www.scopus.com/inward/record.url?scp=0027886113&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0027886113&partnerID=8YFLogxK

U2 - 10.1299/kikaic.59.3817

DO - 10.1299/kikaic.59.3817

M3 - Article

VL - 59

SP - 3817

EP - 3821

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 568

ER -