Title :
A simple method for the on-line synchronous motion planning of multi-manipulators systems
Author :
Mayorga, R.V. ; Wong, A.K.C.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
In this article a simple and fast procedure for (on-line) synchronous motion planning of multi-manipulatory systems is presented. The method is based on solving for each manipulator a linear system of equations taking into account a simple null space vector for motion planning, and a novel scheme for the appropriate robustness of the pseudoinverse matrix. This method pursues simultaneously both motion: collision-free, coordination and singularities prevention in real time in a sensor based environment
Keywords :
combinatorial mathematics; manipulator kinematics; manipulators; matrix algebra; path planning; redundancy; collision-free motion; linear system of equations; multi-manipulators systems; online synchronous motion planning; pseudoinverse matrix; robustness; sensor based environment; singularities prevention; Design engineering; Differential equations; Kinematics; Least squares methods; Linear systems; Manipulators; Nonlinear equations; Null space; Robustness; Systems engineering and theory;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537879
