標題: An alternate priority planning algorithm for dual-arm systems
作者: Chuang, Jen-Hui
Lin, Chien-Chou
Chou, Tsun-Hou
資訊工程學系
Department of Computer Science
關鍵字: dual-manipulator system;potential model;path planning;collision avoidance;3-D workspace
公開日期: 2006
摘要: 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.
URI: http://hdl.handle.net/11536/17485
http://dx.doi.org/10.1109/ISIE.2006.296108
ISBN: 978-1-4244-0496-4
DOI: 10.1109/ISIE.2006.296108
期刊: 2006 IEEE International Symposium on Industrial Electronics, Vols 1-7
起始頁: 3084
結束頁: 3089
Appears in Collections:Conferences Paper


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