An alternate priority planning algorithm for dual-arm systems
| dc.citation.epage | 3089 | en_US |
| dc.citation.spage | 3084 | en_US |
| 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.contributor.department | 資訊工程學系 | zh_TW |
| dc.contributor.department | Department of Computer Science | 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.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.identifier.doi | 10.1109/ISIE.2006.296108 | en_US |
| dc.identifier.isbn | 978-1-4244-0496-4 | en_US |
| dc.identifier.journal | 2006 IEEE International Symposium on Industrial Electronics, Vols 1-7 | en_US |
| dc.identifier.uri | http://dx.doi.org/10.1109/ISIE.2006.296108 | en_US |
| dc.identifier.uri | https://ir.lib.nycu.edu.tw/handle/11536/17485 | |
| dc.identifier.wosnumber | WOS:000244382906018 | |
| 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 |