Coordinated motion control of a robot arm and a positioning table with arrangement of multiple goals

@article{Gueta2008CoordinatedMC,
  title={Coordinated motion control of a robot arm and a positioning table with arrangement of multiple goals},
  author={Lounell B. Gueta and Ryosuke Chiba and Jun Ota and Tsuyoshi Ueyama and Tamio Arai},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={2252-2258}
}
The minimum-time motion coordination is an important subject in robotics. In this study, the arrangement of several goals, which is treated as a traveling salesman problem (TSP), is incorporated to this subject. Although TSP has been studied in most previous works; but, solving a TSP that takes into account collision occurrences has not received much attention. This instance arises when a robot arm has to plan a sequence of reaching goals with other moving objects and/or other robot arms. If… CONTINUE READING

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