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This paper proposes a general motion planning and coordination strategy for robot systems. The representation space (RS) of a robot system is constructed to describe the distributions of system attributes. The reachable area in the RS, denoting the attribute set that the system can be of, indicates the system's ability to accomplish tasks. Moreover, it also describes the influences of the internal...
In this work, a motion planning approach for multi-robot grasping problems is presented. The proposed Multi-Robot-RRT planner controls multiple IK-RRT instances and evaluates grasp qualities for resulting multi-handed grasping con gurations until a global solution is found. Furthermore the Multi-Robot-RRT concept avoids deadlock situations which may appear due to the decomposed planning approach....
This paper proposes repeatedly direct kinematics (RDK) algorithm to trajectory generation of a multi-joint robot in lift-down movements. For trajectory generation of the multi-joint robot, three constraints are considered. They are no turnover, the joint limits and the torque limits of the robot. Safety factor is set in order to ensure the stability of robot. The emphasis of the study is placed on...
We address the problem of designing decentralized laws to control a team of general fully actuated manipulators which synchronize their movements while following the same desired trajectory. To this effect we investigate an adaptive control of an identical multiple manipulators, with unknown inertia parameters, tracking a common trajectory. It is also assumed that all the robots in the synchronization...
The DPC algorithm developed in our previous work is an efficient way of computing optimal trajectories for multiple robots in a distributed fashion with time-parameterized constraints on the distances between pairs of robots. In the present work we extend DPC to the problem of multiple task execution. While this extended problem inherits all the objectives, complexities and constraints of the basic...
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