A geometrical bounded approach for the on-line concurrent motion planning of multi-manipulators systems

A simple and fast procedure for on-line concurrent motion planning of multi-manipulators systems is presented. The method is based on solving for each manipulator a linear system of equations taking into account a geometrical bounded null space vector for motion planning, and a scheme for the appropriate robustness of the pseudoinverse matrix. This method can achieve simultaneously both motion, collision-free, interaction and singularities prevention in real time in a sensor based environment