TY - GEN
T1 - Cooperative motion planning for grasp-work type manipulators
AU - Hirano, G.
AU - Yamamoto, M.
AU - Mohri, A.
PY - 1998/1/1
Y1 - 1998/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0031625938&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.1998.677206
DO - 10.1109/ROBOT.1998.677206
M3 - Conference contribution
AN - SCOPUS:0031625938
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 940
EP - 945
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -