Trajectory Planning for Cooperative Multiple Manipulators with Passive Joints
| Autor: | Motoji Yamamoto, Go Hirano, Akira Mohri |
|---|---|
| Rok vydání: | 2000 |
| Předmět: |
Engineering
business.industry Mechanical Engineering Degrees of freedom Intelligent decision support system Control engineering Object (computer science) Industrial and Manufacturing Engineering Manipulator system Start point Mechanics of Materials Trajectory planning Control theory Passive joint Trajectory Redundancy (engineering) Torque Point (geometry) Motion planning business |
| Zdroj: | IROS |
| ISSN: | 1884-8354 0387-5024 |
| Popis: | This paper proposes an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators with passive joint. The problem of operating and transferring the object from a given start point to a given goal point is considered. In this case, in general, degrees of freedom of the manipulators are larger than that of the object. Then this manipulator system involves redundancy. It does not make big effect for the mobility of the object not to consider several redundant degrees of freedom. So several joints can be changed to passive ones. We use remaining redundant degrees of freedom to refine trajectories. We apply this algorithm to a two-manipulator system. Simulation results show the effectiveness of the algorithm. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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