제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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COLLISION-FREE TRAJECTRY PLANNING FOR DUAL ROBOT ARMS USING ITERATIVE LEARNING CONCEPT

  • Suh, Il-Hong (Dept. of Electronic Eng., Hanyang UniversityDept. of Machine Design and Production Eng., Hanyang UniversityDept. of Machine Design and Production Eng., Hanyang UniversityDept. of EECS, The Univ. of Michigan, Ann Arbor, MI48109) ;
  • Chong, Nak-Young ;
  • Choi, Donghun ;
  • Shin, Kang-G.
  • Published : 1989.10.01
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Abstract

A collision-free trajectory planning algorithm using the iterative learning concept is proposed for dual robot arms in a 3-D workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also the operating time is near-minimal.

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