Ieee 96 Conference on Robotics and Automation Distributed Motion Control for Multiple Robotic Manipulators
نویسندگان
چکیده
This paper presents a method for coordinating the motion of multiple manipulators that share a common workspace. The approach employs independent motion controllers for each manipulator coupled by way of common connguration space constraints | each robot is represented as a constraint in the other conngura-tion spaces. The harmonic function-based controller for each robot guarantees collision-free motion up to dynamic limits. Heuristic constraints are introduced to compensate for the lack of global information in the resulting distributed controller. The relationship between the distributed controller and the task planner is discussed and results of an experimental implementation are presented.
منابع مشابه
1996 International Conference on Robotics and Automation c 1996 IEEEMinneapolis
c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...
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