A simple method for the on-line synchronous motion planning of multi-manipulators systems

Author

Mayorga, R.V. ; Wong, A.K.C.

Author_Institution

Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada

Volume

1

fYear

1995

fDate

22-25 Oct 1995

Firstpage

886

Abstract

In this article a simple and fast procedure for (on-line) synchronous motion planning of multi-manipulatory systems is presented. The method is based on solving for each manipulator a linear system of equations taking into account a simple null space vector for motion planning, and a novel scheme for the appropriate robustness of the pseudoinverse matrix. This method pursues simultaneously both motion: collision-free, coordination and singularities prevention in real time in a sensor based environment

Keywords

combinatorial mathematics; manipulator kinematics; manipulators; matrix algebra; path planning; redundancy; collision-free motion; linear system of equations; multi-manipulators systems; online synchronous motion planning; pseudoinverse matrix; robustness; sensor based environment; singularities prevention; Design engineering; Differential equations; Kinematics; Least squares methods; Linear systems; Manipulators; Nonlinear equations; Null space; Robustness; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.537879

Filename

537879