COLLISION-FREE TRAJECTORY PLANNING FOR 2 COOPERATIVE REDUNDANT MANIPULATORS USING THE MINIMUM-TIME CRITERION

An approach is proposed to generate collision-free, near time-optimal trajectories for two cooperative redundant manipulators between two se ts of end-points. The time-optimal trajectory of one manipulator is fo und first. Then by considering this manipulator as a moving obstacle, the collision-free trajectory for the other manipulator is found. Afte r obtaining the trajectories of both manipulators, an iterative approa ch is proposed to scale the time profile of the trajectories to minimi ze the traveling time. A simulation example is included to illustrate the validity of the proposed approach.