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Trajectory Generation of a Multi-Arm Robot Using Virtual Dynamics
Toshio Tsuji
Faculty of Engineering, Hiroshima University, Kagamiyama 1-4-1, Higashi hiroshima-shi, Hiroshima, 724 Japan
Received:October 19, 1993Accepted:October 30, 1993Published:December 20, 1993
Keywords:Multi-arm robot, Trajectory generation, Decentralized system, Cooperative task
Abstract
In this paper, with a view to realizing coordinated tasks by multiple manipulators, a method for generating in a decentralized manner the manipulators' space trajectories necessary for cooperative tasks through the cooperation and competition of subsystems corresponding to the manipulators. This method involves the supposition of virtual dynamics for the manipulators and an effort to carry out exchanges of information among these subsystems by means of virtual interactive forces among the manipulators generated by these virtual dynamics. Thus, the method can deal not only with simple cooperative tasks like the movement of a grasped object but also with more complicated cooperative tasks including relative motions among manipulators.
Cite this article as:T. Tsuji, “Trajectory Generation of a Multi-Arm Robot Using Virtual Dynamics,” J. Robot. Mechatron., Vol.5 No.6, pp. 606-612, 1993.Data files:
