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Determining the collision-free joint space graph for two cooperating robot manipulators

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dc.contributor.authorSheu, P. C.-Y., author
dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorXue, Qing, author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:29Z
dc.date.available2007-01-03T08:09:29Z
dc.date.issued1993
dc.description.abstractThe problem of path planning for two planar robot manipulators that cooperate in carrying a rectangular object from an initial position and orientation to a destination position and orientation in a 2-D environment is investigated. In this approach, the two robot arms, the carried object and the straight line connecting the two robot bases together are modeled as a 6-link closed chain. The problem of path planning for the 6-link closed chain is solved by two major algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The former maps the free space in the Cartesian world space to the robot's joint space in which all the collision-free feasible configurations (CFFC's) for the 6-link closed chain are found. The latter builds a connection graph of the CFFC's and the transitions between any two groups of CFFC's at adjacent joint intervals. Finally, a graph search method is employed to find a collision-free path for each joint of the robot manipulators. The proposed algorithms can deal with cluttered environments and is guaranteed to find a solution if one exists.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationXue, Qing, Anthony A. Maciejewski, and P. C.-Y. Sheu, Determining the Collision-Free Joint Space Graph for Two Cooperating Robot Manipulators, IEEE Transactions on Systems, Man, and Cybernetics 23, no. 1 (January/February 1993): 285-294.
dc.identifier.urihttp://hdl.handle.net/10217/67342
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1993 IEEE.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectmanipulators
dc.subjectpath planning
dc.subjectmobile robots
dc.subjectgraph theory
dc.titleDetermining the collision-free joint space graph for two cooperating robot manipulators
dc.typeText

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