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ID 14658
file
Thumnail J_041.pdf 653 KB
title alternative
Distributed trajectory generation for multiple manipulators using virtual dynamics
creator
Araki, Atsushi
subject
mechatronics
robotics
manipulator
computer control
trajectory generation
distributed system
cooperative task
virtual dynamics
NDC
Mechanical engineering
description
This paper proposes a trajectory generation method for multiple manipulators through cooperative and competitive interactions among subsystems corresponding to each manipulator. The method can generate the trajectories of multiple manipulators in a parallel and distributed way using virtual dynamics. The virtual dynamics for each manipulator result in virtual interaction forces which represent the interaction among manipulators. It is shown that the method is effective not only for simple cooperative tasks such as positioning a common object, but also for more complicated tasks including relative motions among manipulators.
journal title
日本機械学会論文集(C編)
volume
Volume 59
issue
Issue 568
start page
3822
end page
3829
date of issued
1993-12
publisher
日本機械学会
issn
0387-5024
language
jpn
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
publisher
rights
Copyright(c) 1993 日本機械学会
department
Graduate School of Engineering