Cooperative motion planning for grasp-work type manipulators

G. Hirano, M. Yamamoto, A. Mohri

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

Abstract

A motion planning problem of a cooperative multiple manipulator system carrying out grinding work or similar works to the object is considered. One manipulator holds the object rigidly and the other holds the tool and works on the object's surface. At the contact point between the object and the tool there exists friction, so that interaction forces must be taken into consideration in the dynamics of manipulators and the object. We only specify the tool task on the object's surface, so the object and manipulators can move arbitrary paths in the world coordinates frame. We propose an algorithm to generate joint trajectories for cooperative multiple manipulators to accomplish the specified task effectively.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages940-945
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - Jan 1 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

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

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

All Science Journal Classification (ASJC) codes

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

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