Time optimal trajectories for cooperative multi-robot systems

Moon, S.B.; Ahmad, S.

doi:10.1109/cdc.1990.203775

Cited by 17 publications

(19 citation statements)

References 8 publications

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“…[5], and linear programming approach was used to determine the trajectories. Both Moon and Ahmad [4] and Bobrow et. al.…”

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confidence: 99%

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Time-optimal trajectories for cooperative multi-manipulator systems

Moon

Ahmad

1997

IEEE Trans. Syst., Man, Cybern. B

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“…[5], and linear programming approach was used to determine the trajectories. Both Moon and Ahmad [4] and Bobrow et. al.…”

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confidence: 99%

“…In this paper we first summarize the general time-optimal trajectory planning method for cooperative multi-manipulator system as presented before [4]. In this approach, linear programming techniques are used to find the extreme value of the acceleration we can obtain from the given dynamic equations and force torque constraints.…”

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confidence: 99%

Time-optimal trajectories for cooperative multi-manipulator systems

Moon

Ahmad

1997

IEEE Trans. Syst., Man, Cybern. B

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“…We can express the end-effector forceFi which is expressed in the i-th base coordinate frame as the resultant force Fi in the object coordinate system attached at the center of mass of the carried object, as seen in Figure 1. where Bi was defined by equation (3). Therefore, equation (2) can be simplified as follows.…”

Section: Manipulator Systemmentioning

confidence: 99%

“…It was shown that linear programming could be used to find the trajectory speed-up factor in order to minimize the traversal time under the given velocity profile. The true timeoptimal trajectory planning of CMMS when the desired path is known in advance has been studied dently both by Moon and Ahmad [3] and Bobrow et.…”

Section: Introductionmentioning

confidence: 99%

Sub-time-optimal trajectory plannings for cooperative multi-manipulator systems using the load distribution scheme

Moon

Ahmad

[1993] Proceedings IEEE International Conference on Robotics and Automation

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In this paper, we present a sub-time-optimal trajectory planning scheme for cooperative multi-manipulator system (CMMS). We assume that the desired path is given and is parameterizable by an arclength function. We try to find the load distribution factors which divide the given load into each share of manipulators in CMMS in a time-optimal manner. This approach uses a specific generalized inverse and an optimization search scheme, for example, a linear search algorithm for the dual robots case. Compared with the time-optimal trajectory planning approaches which are required to employ the linear programming method, this sub-optimal method requires only a fraction of computation time. In a limited case, this approach becomes the true timeoptimal method for cooperative multimanipulators.

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“…( 11) under the boundary conditions, eqs. (8) and (9) and joint torques/forces constraints, eq. ( 10).…”

Section: Search Of X(s)mentioning

confidence: 99%

A trajectory planning algorithm with path search for cooperative multiple manipulators

Mohri

Yamamoto

Hirano

1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century

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In this paper, we propose an algorithm to determine sub-optimal paths and trajectories for cooperative multiple manipulators which hold an object and transfer it from a given start point to a given goal point. The dynamic equations of manipulators and the object are expressed by a path parameter 's' which is the length along the path and does not depend on the time 't' explicitly. Using this parameter s , we express the position of the center of gravity and the attitude of the object as p ( s ) and 4(s), respectively. And the joint path B, of the i-th manipulator is also expressed by this parameter 's' and written a s B,(s). A quantity X(s) which connects the time 't' and the path parameter 's' is introduced.B,(s) and X(s) are approximated by B-spline. Suboptimal O,(s) and X(s) are determined by considering the boundary conditions of both end points and the driving torque/force constraint of each joint of each manipulator. The proposed algorithm is applied to a two-manipulator system. Numerical results show the effectiveness of the algorithm. 7 1

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Time optimal trajectories for cooperative multi-robot systems

Cited by 17 publications

References 8 publications

Time-optimal trajectories for cooperative multi-manipulator systems

Time-optimal trajectories for cooperative multi-manipulator systems

Sub-time-optimal trajectory plannings for cooperative multi-manipulator systems using the load distribution scheme

A trajectory planning algorithm with path search for cooperative multiple manipulators

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