Planning method of collision-free trajectory for two manipulators

S. Marushima, M. Yamamoto, A. Mohri

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

Abstract

This paper proposes a method of planning collision-free trajectories for two manipulators considering dynamic constraints. This algorithm is composed of two planning stages. In the first stage, minimum time trajectories for two manipulators are searched with limits of input torques/forces. In the second stage, if there is interference between two obtained trajectories, motion priority is given to two manipulators in order to avoid collision. Collision-free trajectories are obtained along the paths generated in the first stage and their traveling times are shortened, too.

Original languageEnglish
Title of host publicationIntelligence for Mechanical Systems
PublisherIEEE
Pages547-552
Number of pages6
ISBN (Print)078030067X
Publication statusPublished - Dec 1 1991
EventIEEE/RSJ International Workshop on Intelligent Robot and Systems '91 -
Duration: Nov 3 1991Nov 5 1991

Publication series

NameIntelligence for Mechanical Systems
Volume2

Other

OtherIEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Period11/3/9111/5/91

Fingerprint

Manipulators
Trajectories
Planning
Torque

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Marushima, S., Yamamoto, M., & Mohri, A. (1991). Planning method of collision-free trajectory for two manipulators. In Intelligence for Mechanical Systems (pp. 547-552). (Intelligence for Mechanical Systems; Vol. 2). IEEE.

Planning method of collision-free trajectory for two manipulators. / Marushima, S.; Yamamoto, M.; Mohri, A.

Intelligence for Mechanical Systems. IEEE, 1991. p. 547-552 (Intelligence for Mechanical Systems; Vol. 2).

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

Marushima, S, Yamamoto, M & Mohri, A 1991, Planning method of collision-free trajectory for two manipulators. in Intelligence for Mechanical Systems. Intelligence for Mechanical Systems, vol. 2, IEEE, pp. 547-552, IEEE/RSJ International Workshop on Intelligent Robot and Systems '91, 11/3/91.
Marushima S, Yamamoto M, Mohri A. Planning method of collision-free trajectory for two manipulators. In Intelligence for Mechanical Systems. IEEE. 1991. p. 547-552. (Intelligence for Mechanical Systems).
Marushima, S. ; Yamamoto, M. ; Mohri, A. / Planning method of collision-free trajectory for two manipulators. Intelligence for Mechanical Systems. IEEE, 1991. pp. 547-552 (Intelligence for Mechanical Systems).
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