Collision-Free Motion Planning for Multiple Manipulator System Using a Potential Function

Xiang Dong Yang, Motoji Yamamoto, Akira Mohri

研究成果: ジャーナルへの寄稿学術誌査読

抄録

It is necessary to consider the problem of collisions when multiple manipulators work in a common space. This paper proposes a method for collision-free motion planning of a multiple manipulator system. In this method, geometrical constraints are represented by constraint potential functions using the idea of “constrained space”. An algorithm for motion planning of multi-plane-manipulators is presented using the constraint potential functions and a goal potential function. Computer simulations show that the proposed method is especially effective when the system has many manipulators and many joint degrees of freedom in a common work space.

本文言語英語
ページ(範囲)3817-3821
ページ数5
ジャーナルtransactions of the japan society of mechanical engineers series c
59
568
DOI
出版ステータス出版済み - 1993

!!!All Science Journal Classification (ASJC) codes

  • 材料力学
  • 機械工学
  • 産業および生産工学

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