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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
Warianty tytułu
Języki publikacji EN
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.
autor Pająk, G.
autor Pająk, I.
  • University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND,
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