DocumentCode :
301394
Title :
A trajectory planning algorithm with path search for cooperative multiple manipulators
Author :
Mohri, Akira ; Yamamoto, Motoji ; Hirano, Go
Author_Institution :
Dept. of Intelligent Machinery & Syst., Kyushu Univ., Fukuoka, Japan
Volume :
1
fYear :
1995
fDate :
22-25 Oct 1995
Firstpage :
898
Abstract :
Proposes an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators which hold an object and transfer it from a given start point to a given goal point. The dynamic equations of manipulators and the object are expressed by a path parameter `s´ which is the length along the path and does not depend on the time `t´ explicitly. Using this parameter `s´, the authors express the position of the center of gravity and the attitude of the object as p(s) and φ(s), respectively. And the joint path θi of the i-th manipulator is also expressed by this parameter `s´ and written as θi(s). A quantity λ(s) which connects the time `t´ and the path parameter `s´ is introduced. θ i(s) and λ(s) are approximated by B-spline. Suboptimal θi(s) and λ(s) are determined by considering the boundary conditions of both end points and the driving torque/force constraint of each joint of each manipulator. The proposed algorithm is applied to a two-manipulator system. Numerical results show the effectiveness of the algorithm
Keywords :
cooperative systems; manipulators; path planning; search problems; B-spline; boundary conditions; center of gravity; cooperative multiple manipulators; driving torque/force constraint; dynamic equations; path search; trajectory planning algorithm; two-manipulator system; Equations; Intelligent systems; Jacobian matrices; Machine intelligence; Manipulator dynamics; Path planning; Spline; Torque; Trajectory; Transmission line matrix methods;
fLanguage :
English
Publisher :
ieee
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
Type :
conf
DOI :
10.1109/ICSMC.1995.537881
Filename :
537881
Link To Document :
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