A ROBUST METHOD FOR THE CONCURRENT MOTION PLANNING OF MULTI-MANIPULATORS SYSTEMS

Authors
MAYORGA RV WONG AKC
Citation
Rv. Mayorga et Akc. Wong, A ROBUST METHOD FOR THE CONCURRENT MOTION PLANNING OF MULTI-MANIPULATORS SYSTEMS, Journal of intelligent & robotic systems, 19(1), 1997, pp. 73-88
Citations number
27
Categorie Soggetti
System Science","Computer Science Artificial Intelligence","Robotics & Automatic Control
Journal title
Journal of intelligent & robotic systems → ACNP
ISSN journal
09210296
Volume
19
Issue
1
Year of publication
1997
Pages
73 - 88
Database
ISI
SICI code
0921-0296(1997)19:1<73:ARMFTC>2.0.ZU;2-N
Abstract
In this article a robust and simple procedure for the on-line concurre nt motion planning of multi-manipulators is presented. The approach is based on solving for each manipulator a linear system of equations ta king into account a vector for motion planning, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This me thod can pursue simultaneously both motion coordination and singularit ies prevention in real time in a sensor based environment. These prope rties make it suitable for fully autonomous or telerobotic systems ope rations.