Trajectory Planning of Multiple Mobile Manipulators with Collision Avoidance Capability
نویسندگان
چکیده
This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a common object while avoiding a collision. The two mobile manipulators dynamically change their configurations so that they do not collide with each other while not only maintaining the support for the object but also keeping the arm’s configuration away from singularities.
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