Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics 27 巻 5 号
862-867 頁
1997 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
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| 作成者 |
Jazidie Achmad
Kaneko Makoto
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| 収録物名 |
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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| 巻 | 27 |
| 号 | 5 |
| 開始ページ | 862 |
| 終了ページ | 867 |
| 抄録 |
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分類 |
機械工学 [ 530 ]
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
IEEE
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| 発行日 | 1997 |
| 権利情報 |
(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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| 出版タイプ | Version of Record（出版社版。早期公開を含む） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 1083-4419
[DOI] 10.1109/3477.623238
[DOI] http://dx.doi.org/10.1109/3477.623238
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