제어로봇시스템학회:학술대회논문집
- 1993.10b
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- Pages.168-171
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- 1993
A study on optimal trajectory planning for a dual arm robot
- Park, Man-Sik (Yeugnam University) ;
- Sang, Ho-Jin (Saga University) ;
- Park, Jung-Il (Yeugnam University) ;
- Lee, Suck-Gyu (Yeugnam University)
- 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.
Keywords