A study on optimal trajectory planning for a dual arm robot

  • Published : 1993.10.01

Abstract

In this paper, we design a time optimal controller of a dual arm robot to handle the object. Differently from the master-slave type robot, same priority is imposed on the both of the arms for effective handling the specifed object. For finding a time optimal collision-free trajectory, a graphical method is applied for the robot with two degree of freedom. Some simulation results show the effectiveness of the proposed method.

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