A Robust Method for the Concurrent Motion Planning of Multi-Manipulators Systems

Authors:
R. V. Mayorga;A. K. C. Wong
Affiliations:
Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada. e-mail: rene@watnow.uwaterloo.ca;Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada. e-mail: rene@watnow.uwaterloo.ca
Venue:
Journal of Intelligent and Robotic Systems
Year:
1997

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Abstract

In this article a robust and simple procedure for the on-line concurrent motion planning of multi-manipulators is presented. The approach is based on solving for each manipulator a linear system of equations taking into account a vector for motion planning, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This method can pursue simultaneously both motion coordination and singularities prevention in real time in a sensor based environment. These properties make it suitable for fully autonomous or telerobotic systems operations.