we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...

This paper presents a new approach to path planning for m h ~ d a n t manipulatorsThe Path Planning Problem is PO& as a finite time nonlinear control problem which can be solved by a Newton-Raphson type algorithm together with an exterior penalty function as well as incorporating both joint and task space constraints. The algorithm has shown promising results in planning joint path sequences to...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

Conclusion This Note proposes a method of path planning for space manipulators that reduces disturbances to the spacecraft attitude. The proposed method uses the EDM for planning the manipulator path in the joint space. The method sequentially determines the direction of small steps of joint movements that compromises the biobjectives of minimizing the disturbance to the spacecraft attitude and...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

An application of advanced optimization techniques to solve the path planning problem for closed chain robot systems is proposed. The approach to path planning is formulated as a “quasi-dynamic” NonLinear Programming (NLP) problem with equality and inequality constraints in terms of the joint variables. The essence of the method is to find joint paths which satisfy the given constraints and min...

This paper presents a weighted path planning approach for a light weight robot coming into compliant contact with the environment, as well as robot‐ environment interaction enabled impedance control. Using a joint torque sensor, Cartesian impedance control is introduced to realize the manipulator compliance control. Then the weighted path planning approach is de...

Planning optimal paths for large numbers of robots is computationally expensive. In this paper, we introduce a new framework for multirobot path planning called subdimensional expansion, which initially plans for each robot individually, and then coordinates motion among the robots as needed. More specifically, subdimensional expansion initially creates a one-dimensional search space embedded i...

The center of mass space is a convenient space for planning motions that minimize reaction forces at the manipulator’s base or optimize the stability of a mechanism. A unique problem associated with path planning in the center of mass space is the potential existence of multiple center of mass images for a single Cartesian obstacle, since a single center of mass location can correspond to multi...