標題: A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS
作者: Chuang, Jen-Hui
Chan, Ting-Wei
Lin, Chien-Chou
資訊工程學系
Department of Computer Science
公開日期: 2007
摘要: An algorithm for path planning of object held by multiple manipulators is presented in this paper. The proposed path planning algorithm is composed with two planners: path planner of the object and motion planner of manipulators. Both planners use a generalized potential model to evaluate the repulsion between object/manipulators and obstacles, so as to avoid collision. By adding virtual obstacle planes to roughly divide the workspace into several subspaces, a concurrent approach of path planning is also proposed. With each subspace designated to a manipulator, collisions between manipulators can be avoided. Therefore, paths of all. manipulators can be planned at the same time.
URI: http://hdl.handle.net/11536/8924
http://dx.doi.org/10.1142/9789812770189_0062
ISBN: 978-981-270-815-1
DOI: 10.1142/9789812770189_0062
期刊: ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS
起始頁: 541
結束頁: 546
Appears in Collections:Conferences Paper