DocumentCode
2534180
Title
Coordinated motion of two robot arms
Author
Fortune, Steven ; Wilfong, Gordon ; Yap, Chee
Author_Institution
AT&T Bell Laboratories, Murray Hill, NJ
Volume
3
fYear
1986
fDate
31503
Firstpage
1216
Lastpage
1223
Abstract
We study the problem of planning simultaneous motion for two robot arms that are modeled on the Stanford arm. The arms have two degrees of freedom and must move in a workspace, avoiding obstacles and each other. We develop an O(n2logn) algorithm for planning motion of two arms with tips together, and an O(n3) algorithm for independent but synchronized motion. Here n is the total number of walls of the obstacles.
Keywords
Arm; Assembly; Computational complexity; Manipulators; Mathematical model; Motion planning; Polynomials; Robot kinematics; Tail;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087555
Filename
1087555
Link To Document