Trajectory Planning for Cooperative Multiple Manipulators with Passive Joints.
نویسندگان
چکیده
منابع مشابه
Control of Cooperative Manipulators with Passive Joints
The problem of the control of cooperative manipulators with passive joints and rigidly connected to a solid object is addressed in this paper. Passive joints can appear due to free-swinging joint failures or can be an intrinsic characteristic of the robots. A hybrid control of motion and squeeze force is proposed. For this purpose, a Jacobian matrix relating velocities in the actuated joints an...
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we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...
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This paper studies the problem of modeling and control of multiple cooperative underactuated manipulators handling a rigid object. A single underactuated manipulator is a nonholonomic system in most cases, but cooperative underactuated manipulator systems may not. We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not...
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We have designed a two-stage scheme to consider the trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in the presence of static obstacles. In the first stage, with regard to the static obstacles, we develop a method that searches the workspace for the shortest possible path between the start and goal configurations, by constructing a graph on ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2000
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.66.3997