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Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions

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3 Author(s)
Tsuji, T. ; Dept. of Ind. & Syst. Eng., Hiroshima Univ., Japan ; Jazidie, A. ; Kaneko, M.

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

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:27 ,  Issue: 5 )