Cooperative Motion Planning Method for Two Anthropomorphic Manipulators

DOI

10.2991/itids-19.2019.27How to use a DOI?

Keywords

anthropomorphic manipulator, robotic arm, cooperative motion planning, analytical method, geometric method, two manipulators.

Abstract

The development of methods for planning joint movements of two anthropomorphic manipulators in a common operational space becomes relevant. This is due to the development of anthropomorphic robots. Existing methods have relatively large computational complexity. They cannot be used on platforms with limited computing resources. This article proposes an approximate analytical method for planning of joint movements of two anthropomorphic manipulators for point-to-point movements. The analytical method is based on the geometric interpretation of the kinematic redundancy of anthropomorphic manipulators. The method includes three stages. At the first stage, the movement of the wrists of the manipulators is planned, at the second stage elbow joints is planned, and at the third stage end effectors is planned. In the event of a possible collision of manipulators, correction of their path is carried out by “pushing”. Its computational complexity is about thousand operations. Simulation of the proposed method showed its efficiency. This method has prospects for implementation in existing manipulator control systems.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Vyacheslav Petrenko
AU  - Fariza Tebueva
AU  - Vladimir Antonov
AU  - Mikhail Gurchinsky
AU  - Sergey Ryabtsev
AU  - Andrei Burianov
PY  - 2019/05
DA  - 2019/05
TI  - Cooperative Motion Planning Method for Two Anthropomorphic Manipulators
BT  - Proceedings of the 7th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2019)
PB  - Atlantis Press
SP  - 146
EP  - 151
SN  - 1951-6851
UR  - https://doi.org/10.2991/itids-19.2019.27
DO  - 10.2991/itids-19.2019.27
ID  - Petrenko2019/05
ER  -