Referenced Items are not available for this document.
A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effecters is proposed. The method can generate the trajectories of the multiple arms in a distributed manner based on a concept of a virtual interaction force which represents an interaction between an end-effector and an environment. It is shown that the method is effective not only for simple cooperative tasks such as positioning a common object, but also for more complicated tasks including relative motions among arms
Published in:
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
(Volume:27
,
Issue:
5
)
Date of Publication: Sep 1997
- Page(s):
- 862 - 867
- ISSN :
- 1083-4419
- INSPEC Accession Number:
- 5711692
- Digital Object Identifier :
- 10.1109/3477.623238
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Sep 1997
- Sponsored by :
- IEEE Systems, Man, and Cybernetics Society
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