Time scaling of cooperative multi-robot trajectories

@article{Moon1990TimeSO,
  title={Time scaling of cooperative multi-robot trajectories},
  author={Seungbin B. Moon and Shaheen Ahmad},
  journal={Proceedings., IEEE International Conference on Robotics and Automation},
  year={1990},
  pages={506-511 vol.1}
}
An algorithm is developed to modify the trajectories of multiple robots in cooperative manipulation. If a given trajectory results in joint torques which exceed the admissible torque range for one or more joints, the trajectory speed is scaled so as to maintain all the torques within the admissible boundary. The trajectory scaling scheme described requires the use of linear programming techniques and is designed to accommodate the internal force constraints and payload distribution strategies… CONTINUE READING

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Time-scaled coordination of multiple manipulators

  • IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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Cooperative path planning for two manipulators

  • Proceedings of IEEE International Conference on Robotics and Automation
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A trajectory planning algorithm with path search for cooperative multiple manipulators

  • 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century
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