Title :
On-line generation of collision-free trajectories for multiple robots
Abstract :
An online algorithm is proposed to test interferences and generate collision-free trajectories for the motions of loosely coordinated multiple robot manipulators controlled independently by means of PD (proportional differential) controllers. A hierarchical multiple-robot-control architecture is proposed. The approach is demonstrated by simulation studied
Keywords :
online operation; position control; robots; two-term control; PD controllers; collision-free trajectories; hierarchical control architecture; interferences; manipulators; multiple robots; online algorithm; two term control; Collision avoidance; Interference; Manipulator dynamics; Motion planning; Orbital robotics; Parallel robots; Robot kinematics; Robotic assembly; Robotics and automation; Trajectory;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12049
