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

Toshio Tsuji; Achmad Jazidie; Makoto Kaneko

doi:10.1109/3477.623238

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

Toshio Tsuji^*, Achmad Jazidie, Makoto Kaneko

^*Corresponding author for this work

Laboratory of Control and Automation

Hiroshima University

Research output: Contribution to journal › Article › peer-review

18 Citations (Scopus)

Abstract

A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effectors 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.

Original language	English
Pages (from-to)	862-867
Number of pages	6
Journal	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	27
Issue number	5
DOIs	https://doi.org/10.1109/3477.623238
Publication status	Published - 1997

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abstract = "A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effectors 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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AU - Jazidie, Achmad

AU - Kaneko, Makoto

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N2 - A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effectors 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.

AB - A trajectory generation method for multi-arm robots through cooperative and competitive interactions among multiple end-effectors 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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Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions

Abstract

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