Browsing by Author "Chou, Tsun-Hou"

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An alternate priority planning algorithm for dual-arm systems
(2006)
Chuang, Jen-Hui
;
Lin, Chien-Chou
;
Chou, Tsun-Hou
;
資訊工程學系
;
Department of Computer Science
An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A master-slave architecture is used to deal with the coordination of two manipulators by alternately identifying configurations of the two manipulators. The proposed method utilizes a generalized potential field to evaluate repulsion between manipulators and obstacles in a workspace, so collision avoidance of the planned path can be guaranteed. The simulation results show that proposed algorithm is efficient, even in a narrow passage.