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http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-article-BPZ5-0017-0012

Czasopismo

International Journal of Applied Mechanics and Engineering

Tytuł artykułu

Planning of a collision-free trajectory for multiple manipulators

Autorzy Pająk, G.  Pająk, I. 
Treść / Zawartość http://www.ijame.uz.zgora.pl/ http://www.degruyter.com/view/j/ijame
Warianty tytułu
Języki publikacji EN
Abstrakty
EN In this paper, a global method is presented in order to solve the task of trajectories generation for multiple manipulators operating in the common workspace including moving obstacles. The task of manipulators is to follow by their end effectors the geometric paths given in a task space. The dynamics of the manipulators is taken into consideration. The constraints imposed on controls and state inequality constraints resulting from collision avoidance of a moving obstacle with manipulator links are considered. A final time of the task performance is not fixed. This task is solved based on the calculus of variations. A computer example involving two planar redundant manipulators of three revolute kinematic pairs is presented.
Słowa kluczowe
PL unikanie kolizji   manipulatory   roboty  
EN redundant manipulator   suboptimal trajectory   collision avoidance   multiple manipulators  
Wydawca Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
Czasopismo International Journal of Applied Mechanics and Engineering
Rocznik 2011
Tom Vol. 16, no 2
Strony 475--486
Opis fizyczny Bibliogr. 12 poz., wykr.
Twórcy
autor Pająk, G.
autor Pająk, I.
  • University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND, g.pajak@iizp.uz.zgora.pl
Bibliografia
Björck A. and Dahlquist G. (1987): Numerical Methods. (in Polish) - Warsaw: Polish Scientific Publisher.
Cela A.S. and Hamam Y. (1992): Optimal motion planning of a multiple-robot system based on decomposition coordination. - IEEE Trans. Robot. Autom., vol.8, No.5, pp.585-596.
Desai J.P. and Kumar V. (1997): Nonholonomic motion planning for multiple mobile manipulators. - Proc. Intern. Conf. Robot. and Autom., pp.3409-3414.
Freund E. and Hoyer H. (1986): Pathfinding in multirobot systems: solution and applications. - Proc. IEEE Intern. Conf. on Robot. and Autom., vol.1, No.1, pp.103-111.
Freund E. and Hoyer H. (1988): Real-time pathfinding in multirobot systems including obstacle avoidance. - Intern. Journal of Robot. Research, vol.7, No.1, pp.42-70.
Galicki M. (1992): Optimal planning of collision-free trajectory of redundant manipulators. - The Intern. Journal Robot. Research, vol.11, No.6, pp.549-559.
Galicki M. (2000): Chosen methods of optimal trajectory planning for manipulation robots (in Polish). - Warsaw: Wydawnictwa Naukowo-Techniczne.
Gelfand J.M. and Fomin S.W. (1970): Calculus of Variations. (in Polish) - Warsaw: Polish Scientific Publisher.
Lee B.H. and Lee C.S.G. (1987): Collision-free motion planning of two robots. - IEEE Trans. System Man Cybern., vol.17, No.1, pp.21-32.
Pajak G. and Pajak I. (1997): Planning of an optimal trajectory of redundant manipulator with regard to constraints on control. - Archiwum Budowy Maszyn, vol.XLIV, No.1, pp.5-20.
Pajak I. and Pajak G. (2001): Planning of an optimal collision-free trajectory subject to control constraints. - Proc. ROMOCO Second Intern. Workshop, pp.141-146.
Todt E., Raush G. and Suarez R. (2000): Analysis and classification of multiple robot coordination methods. - Proc. IEEE Intern. Conf. on Robot. and Autom., pp.3158-3163.
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