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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Title ( eng )
Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
Creator
Jazidie Achmad
Kaneko Makoto
Source Title
IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics
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.
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
IEEE
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.
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