Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics Volume 27 Issue 5
Page 862-867
published_at 1997
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| File | |
| Title ( eng ) |
Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
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| Creator |
Jazidie Achmad
Kaneko Makoto
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| Source Title |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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| Volume | 27 |
| Issue | 5 |
| Start Page | 862 |
| End Page | 867 |
| Abstract |
A trajectory generation method for multi-arm robotsthrough cooperative and competitive interactions among multipleend-effectors is proposed. The method can generate the trajectories ofthe multiple arms in a distributed manner based on a concept of a virtualinteraction force which represents an interaction between an end-effectorand an environment. It is shown that the method is effective not only forsimple cooperative tasks such as positioning a common object, but alsofor more complicated tasks including relative motions among arms.
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| NDC |
Mechanical engineering [ 530 ]
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| Language |
eng
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| Resource Type | journal article |
| Publisher |
IEEE
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| Date of Issued | 1997 |
| Rights |
(c) 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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| Publish Type | Version of Record |
| Access Rights | open access |
| Source Identifier |
[ISSN] 1083-4419
[DOI] 10.1109/3477.623238
[DOI] http://dx.doi.org/10.1109/3477.623238
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