文章基本信息

标题：Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification
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作者：Ahmed Omar ; Ahmed Omar ; Pan Ri 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2016
卷号：75
页码：1-5
DOI：10.1051/matecconf/20167505005
语种：English
出版社：EDP Sciences
摘要：In order to achieve cooperation of multi-robots simultaneously, this paper presents an approach of Trajectory planning for two decoupled robots with six degrees of freedom (DOF) each to execute packing task. The Denavit-Hartenberg (D-H) representation is used to model robot links and solve the transformation matrices of each joint. The inverse kinematics solution using for a 6- DOF Robotic arm is presented, for given initial and final configurations of the robots, the robots are placed so that their workspaces overlap. An algorithm successfully finds a set of configurations to ensure, collision free transition from start to end configuration. Simulation and experiments based on 6-dof robot are carried out and the results verified the effectiveness of the proposed algorithm.