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 |