Collision-free trajectory planning for two manipulators using virtual coordination space

Akira Mohri, Motoji Yamamoto, Shinya Marushima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we propose a method of planning collision free trajectories for two manipulators along specified joint paths. The joint path of each manipulator is represented by a path parameter and two path parameters generate a two-dimensional space which contains the collision region of two manipulators. In order to connect the path parameter with the time, a time scale factor is introduced. In a three-dimensional space constituted by the two-dimensional space of the path parameters and the time-scale factor, minimum time trajectories for two manipulators are searched under joint torques/forces constraints and collision-free condition by dynamic programming. Numerical example with two two-link manipulators shows the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages674-679
Number of pages6
ISBN (Print)0818634529
Publication statusPublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

All Science Journal Classification (ASJC) codes

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

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