Trajectory Planning for Cooperative Multiple Manipulators with Path Search

a novel method for trajectory planning of cooperative mobile manipulators

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...

A Novel Method for Trajectory Planning of Cooperative Mobile Manipulators

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 ...

Optimal Path Planning and Task Adjustment for Cooperative Flexible Manipulators

Accuracy and energy consumption are key aspects to be considered when using serial manipulators in industrial environment. Affordable operational and maintenance costs are very important issues for automated processes. However, high performance robots also require increasing precision when performing sophisticated tasks. In this paper a method for optimal path planning and task adjustment of co...

Trajectory Planning of Multiple Mobile Manipulators with Collision Avoidance Capability

This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a co...

Path planning for mobile manipulators for multiple task execution