Cooperative path planning for two manipulators

Akira Mohri, Motoji Yamamoto, Go Hirano

研究成果: Contribution to journalArticle査読

26 被引用数 (Scopus)


This paper proposes a method of planning collision free joints paths for cooperative two manipulators. When two manipulators hold a common object and execute specified tasks, there are problems related to handling, collision and so many others. To move two manipulators effectively, all of them must be considered together. There are redundancy peculiar to the cooperative two manipulators. We use this redundancy and the potential function method to avoid collisions between the object and the link, the link and the link, the link and the obstacle and so on. Simulation results show the effectiveness of the proposed method.

ジャーナルUnknown Journal
出版ステータス出版済み - 1996

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering

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