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Summary: Time-Scaled Coordination of Multiple Manipulators
Srinivas Akella
Department of Computer Science
Rensselaer Polytechnic Institute
Troy, New York 12180
Email:sakella@cs.rpi.edu
Jufeng Peng
Department of Mathematical Sciences
Rensselaer Polytechnic Institute
Troy, New York 12180
Email: pengj@rpi.edu
Abstract-- Coordinating multiple manipulators in a shared
workspace while considering their dynamics is an important
problem. This problem of collision-free coordination arises in
assembly, materials transfer, and welding workcells. Previous
approaches that considered robot dynamics have typically been
restricted to coordinating just two or three manipulators, even
when their paths are specified. We address the task of coordi-
nating the motions of multiple manipulators when either their
trajectories or their paths are given. By exploiting a fundamental
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