Distributed Trajectory Generation for Cooperative Multi-Arm Robots via Virtual Force Interactions
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概要
- 論文の詳細を見る
A trajectory generation method for multi-arm robotsthrough cooperative and competitive interactions among multipleend-effectors is proposed. The method can generate the trajectories ofthe multiple arms in a distributed manner based on a concept of a virtualinteraction force which represents an interaction between an end-effectorand an environment. It is shown that the method is effective not only forsimple cooperative tasks such as positioning a common object, but alsofor more complicated tasks including relative motions among arms.
- IEEEの論文
- 1997-00-00
IEEE | 論文
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