Ieee 96 Conference on Robotics and Automation Distributed Motion Control for Multiple Robotic Manipulators


This paper presents a method for coordinating the motion of multiple manipulators that share a common workspace. The approach employs independent motion controllers for each manipulator coupled by way of common connguration space constraints | each robot is represented as a constraint in the other conngura-tion spaces. The harmonic function-based controller… (More)


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