A Path Planning Algorithm for Multi Manipulators

Material type: その他

Author: TAMURA, Shinsukeほか

Publisher: IEEE Computer Society

Publication date: 2009-02

Material Format: Digital

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Note (General)：: 出版タイプ： AOThis paper discusses an approach to the development of a path planning algorithm for cooperating multi manipulators. In the approach, multipl...

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Material Type: その他
Title: A Path Planning Algorithm for Multi Manipulators
Author/Editor: TAMURA, Shinsuke
MURATA, Tomonari
ISLAM, Md. Nazrul
YANASE, Tatsuro
TANIGUCHI, Shuji
Author Heading: TAMURA, Shinsuke
MURATA, Tomonari
ISLAM, Md. Nazrul
YANASE, Tatsuro
TANIGUCHI, Shuji
Publication, Distribution, etc.: IEEE Computer Society
Publication Date: 2009-02
Publication Date (W3CDTF): 2009
Periodical title: Proceedings of the 2009 IEEE International Conference on Industrial Technology
Pages: 1150-1155
Subject Heading: backtrack free exact algorithm
Target Audience: 一般
Note (General): 出版タイプ： AO
This paper discusses an approach to the development of a path planning algorithm for cooperating multi manipulators. In the approach, multiple manipulators are considered as a single composite one. Therefore, the composite manipulator possesses all arms of the manipulators included in the collaboration. A newly developed path planning algorithm BFA (Backtrack Free path planning Algorithm) enables the efficient generation of paths of this composite manipulator with extremely many arms. The algorithm is backtrack free and resolution complete. Computation volume of the algorithm is proportional to the total number of arms included in the composite manipulator. An additional advantage of this approach is that paths of individual manipulators can be calculated completely in parallel.
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 福井大学 : 福井大学学術機関リポジトリ