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A Path Planning Algorithm for Multi Manipulators
http://hdl.handle.net/10098/2334
http://hdl.handle.net/10098/23342aa4aeb0-b720-46c4-9002-7b9967b3ca58
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
AF-003689.pdf (114.4 kB)
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IEEE Computer Society
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2010-01-07 | |||||
| タイトル | ||||||
| タイトル | A Path Planning Algorithm for Multi Manipulators | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | backtrack free exact algorithm | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_1843 | |||||
| 資源タイプ | other | |||||
| 著者 |
TAMURA, Shinsuke
× TAMURA, Shinsuke× MURATA, Tomonari× ISLAM, Md. Nazrul× YANASE, Tatsuro× TANIGUCHI, Shuji |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | 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. | |||||
| 書誌情報 |
Proceedings of the 2009 IEEE International Conference on Industrial Technology p. 1150-1155, 発行日 2009-02 |
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| 出版者 | ||||||
| 出版者 | IEEE Computer Society | |||||
| 書誌レコードID | ||||||
| 識別子タイプ | NCID | |||||
| 関連識別子 | TD00006643 | |||||
