Fundamentals of interactive computer graphics
Fundamentals of interactive computer graphics
Planning of minimum-time trajectories for robot arms
International Journal of Robotics Research
Collision-free motion planning of two robots
IEEE Transactions on Systems, Man and Cybernetics
Real-time pathfinding in multirobot systems including obstacle avoidance
International Journal of Robotics Research
International Journal of Robotics Research
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Optimal Motion Planning of Robotic Manipulators Removing Mobile Objects Grasped in Motion
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
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An approach is proposed to generate collision-free, near time-optimal trajectories for two cooperative redundant manipulators between two sets of end-points. The time-optimal trajectory of one manipulator is found first. Then by considering this manipulator as a moving obstacle, the collision-free trajectory for the other manipulator is found. After obtaining the trajectories of both manipulators, an iterative approach is proposed to scale the time profile of the trajectories to minimize the traveling time. A simulation example is included to illustrate the validity of the proposed approach.