Cooperative Motion Planning of Two Manipulators for Concave Wall Tracing Task

Go Hirano, Motoji Yamamoto, Akira Mohri

Research output: Contribution to journalArticle

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)2292-2297
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number647
Publication statusPublished - Jan 1 2000


All Science Journal Classification (ASJC) codes

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

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