Planning of a collision-free trajectory for multiple manipulators

• Autorzy: Pająk G. , Pająk I.
• 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

EN

redundant manipulator; suboptimal trajectory; collision avoidance; multiple manipulators

PL

unikanie kolizji; manipulatory; roboty

• 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,

Bibliografia

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