Collision-free trajectory planning for two manipulators using virtual coordination space
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 674-679 vol.2
- https://doi.org/10.1109/robot.1993.291881
Abstract
A method of planning collision free trajectories for two manipulators along specified joint paths is proposed. The joint path of each manipulator is represented by a path parameter, and two path parameters generate a two-dimensional space which contains the collision region of two manipulators. In order to connect the path parameter with the time, a time scale factor is introduced. In a three-dimensional space constituted by the two-dimensional space of the path parameters and the time scale factor, minimum time trajectories for two manipulators are searched under joint torques/forces constraints and collision-free conditions by dynamic programming. Numerical examples with two-link manipulators show the effectiveness of the proposed method.Keywords
This publication has 3 references indexed in Scilit:
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