IEEE Transactions on Robotics and Automation · 1992 · 115 citations · 14 references
EngineeringMechanical EngineeringRobotics EngineeringMotion PlanningPath PlanningRoboticsCollision DetectionKinematicsOptimal ControlRobot Motion PlanningTrajectory GenerationTrajectory OptimizationCollision Detection In Motion PlanningInter-robot Collision DetectionRobot Path PlanningTime-optimal PlanningTime-optimal TrajectoriesTime-optimal Trajectory PlanningTrajectory PlanningTrajectory Planning For Collision Avoidance
A trajectory planning method that ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities is proposed. In terms of parameters defining the positions along the paths of two robots, a two-dimensional coordination space and a maximum velocity curve are constructed to detect collision regions and to plan a time-optimal velocity curve, respectively. An algorithm is then provided for the case of zero initial velocities and a single collision region. A numerical example is included.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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