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• W2318922511 abstract "In this paper, we develop a method to plan a suboptimal trajectories for cooperative multiple manipulators which transfer an object along a specified path. The dynamic equations of manipulators and the object are expressed by a path parameter‘s’which does not depend on time explicitly. A quantity λ(s) which connects the time‘t’and the path parameter‘s’is introduced. A suboptimal λ(s) is determined by B-spline approximation considering the boundary conditions of both end points and the driving force/torque constraint of each joint of each manipulator. The proposed method is applied to two-manipulator system. Numerical results show the effectiveness of the method." @default.
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• W2318922511 date "1993-01-01" @default.
• W2318922511 modified "2023-10-02" @default.
• W2318922511 title "Trajectory Planning for Cooperative Multiple Manipulators" @default.
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• W2318922511 doi "https://doi.org/10.9746/sicetr1965.29.819" @default.
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