Trajectory Planning for Cooperative Multiple Manipulators
نویسندگان
چکیده
منابع مشابه
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...
متن کاملA 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 ...
متن کاملTrajectory 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...
متن کاملGlobal trajectory planning for fault tolerant manipulators
Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this paper, we present a trajectory planning algorithm that guarantees fault toleran...
متن کاملTrajectory Planning for Constrained Parallel Manipulators
This paper presents an algorithm for generating trajectories for multi-degree of freedom spatial linkages, termed constrained parallel manipulators. These articulated systems are formed by supporting a workpiece, or end-effector, with a set of serial chains, each of which imposes a constraint its movement. Our goal is to plan trajectories for systems that have workspaces ranging from two throug...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1993
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.29.819