Cooperative Motion Planning for Grasp-Work Type Mainpulator System.
نویسندگان
چکیده
منابع مشابه
Simultaneous Grasp and Motion Planning
In this work, we present an integrated approach for planning collision-free grasping motions. The proposed Grasp–RRT planner combines the three main tasks needed for grasping an object: building a feasible grasp, solving the inverse kinematics problem and searching a collision-free trajectory that brings the hand to the grasping pose. Therefore, RRT-based algorithms are used to build a tree of ...
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The problem of planning the motion is investigated for distributed multiple mobile agents A method is proposed for a few heterogeneous mobile agents (robots) of diierent sizes and moving capabitilies to coordinate their motions in a distributed manner to achieve a map-making task. The agents are assumed to have suucient memory to store the map and to be able to communicate with each other. Our ...
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Software development plays a major role besides hardware setup and mechanical design when it comes to building complex robots such as mobile manipulators or humanoids. Different requirements have to be addressed depending on the application. A low-level controller for example must be implemented for real-time use, whereas a task planning component will interact with the robot on a higher abstra...
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The design of autonomous characters capable of planning their own motions continues to be a challenge for computer animation. We present a novel kinematic motion planning algorithm for character animation which addresses some of the outstanding problems. The problem domain for our algorithm is as follows: given a constrained environment with designated handholds and footholds, plan a motion thr...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1998
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.64.3862