Cooperative Path Planning for Two Manipulators
Akira MOHRI, Go Hirano, Motoji Yamamoto · Transactions of the Society of Instrument and Control Engineers · 1998
Recently, it is considerd to be important to cooperate two manipulators effectively. In this system, problems related to handling, collision avoidance and so many others are must be considerd together. This paper proposes a method of planning joints paths for cooperative two manipulators. We consider one manipulator holds a object rigidly and the other executes specified tasks to the object. We give only relationship of endeffectors of these two manipulators, so each manipulator can get arbitrary configurations. In general, there are redundant degrees of freedom peculiar to the cooperative two manipulators. We use this redundancy and the potential function method to avoid collisions between the object and the link, the link and the link, the link and the obstacle, and so on. Finally, simulation results in 2D and 3D-workspace show the effectiveness of the proposed method.