Trajectory planning for cooperative multiple manipulators with passive joints

G. Hirano, Motoji Yamamoto, A. Mohri

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

This paper proposes an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators with passive joints. The problem of operating and transferring the object from a given start point to a given goal point is considered. In this case, in general, degrees of freedom of the manipulators are larger than that of the object. Therefore this manipulator system involves redundancy. It does not make big effect for the mobility of the object not to consider several degrees of freedom. So several joints can be changed to passive ones. We use remaining redundant degrees of freedom to refine trajectories. We apply this algorithm to a two-manipulators system. Simulation results show the effectiveness of the algorithm.

Original languageEnglish
Pages2339-2344
Number of pages6
Publication statusPublished - Dec 1 2000
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: Oct 31 2000Nov 5 2000

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period10/31/0011/5/00

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Hirano, G., Yamamoto, M., & Mohri, A. (2000). Trajectory planning for cooperative multiple manipulators with passive joints. 2339-2344. Paper presented at 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan.