An alternate priority planning algorithm for dual-arm systems

doi:10.1109/ISIE.2006.296108

完整後設資料紀錄

DC 欄位	值	語言
dc.contributor.author	Chuang, Jen-Hui	en_US
dc.contributor.author	Lin, Chien-Chou	en_US
dc.contributor.author	Chou, Tsun-Hou	en_US
dc.date.accessioned	2014-12-08T15:25:06Z	-
dc.date.available	2014-12-08T15:25:06Z	-
dc.date.issued	2006	en_US
dc.identifier.isbn	978-1-4244-0496-4	en_US
dc.identifier.uri	http://hdl.handle.net/11536/17485	-
dc.identifier.uri	http://dx.doi.org/10.1109/ISIE.2006.296108	en_US
dc.description.abstract	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.	en_US
dc.language.iso	en_US	en_US
dc.subject	dual-manipulator system	en_US
dc.subject	potential model	en_US
dc.subject	path planning	en_US
dc.subject	collision avoidance	en_US
dc.subject	3-D workspace	en_US
dc.title	An alternate priority planning algorithm for dual-arm systems	en_US
dc.type	Proceedings Paper	en_US
dc.identifier.doi	10.1109/ISIE.2006.296108	en_US
dc.identifier.journal	2006 IEEE International Symposium on Industrial Electronics, Vols 1-7	en_US
dc.citation.spage	3084	en_US
dc.citation.epage	3089	en_US
dc.contributor.department	資訊工程學系	zh_TW
dc.contributor.department	Department of Computer Science	en_US
dc.identifier.wosnumber	WOS:000244382906018	-
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