Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Experiment Videos

Time-optimal trajectories for cooperative multi-manipulator systems.

S B Moon1, S Ahmad

  • 1Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|January 1, 1997
PubMed
Summary
This summary is machine-generated.

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Induction of the angiogenic modulator fibroblast growth factor-binding protein by epidermal growth factor is mediated through both MEK/ERK and p38 signal transduction pathways.

The Journal of biological chemistry·2001
Same author

Biliary atresia in an infant born to an HIV positive mother.

Sexually transmitted infections·2001
Same author

Low levels of ethanol stimulate and high levels decrease phosphorylation in microtubule-associated proteins in rat brain: an in vitro study.

Alcohol and alcoholism (Oxford, Oxfordshire)·2000
Same author

Bioreactivity of glutathionyl hydroquinone with implications to benzene toxicity.

Toxicology·2000
Same author

Two new diterpenoids from Salvia triloba.

Fitoterapia·2000
Same author

Differential inhibition of xenobiotic-metabolizing carboxylesterases by organotins in marine fish.

Ecotoxicology and environmental safety·2000
Same journal

Strategic Ability Updating in Concurrent Games by Coalitional Commitment.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2015
Same journal

Meta-Analysis of the First Facial Expression Recognition Challenge.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2012
Same journal

Adjustable model-based fusion method for multispectral and panchromatic images.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2012
Same journal

Face Feature Weighted Fusion Based on Fuzzy Membership Degree for Video Face Recognition.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2012
Same journal

A New Adaptive Fast Cellular Automaton Neighborhood Detection and Rule Identification Algorithm.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2012
Same journal

Human-arm-and-hand-dynamic model with variability analyses for a stylus-based haptic interface.

IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society·2012
See all related articles

We developed two methods for optimizing cooperative multi-manipulator system (CMMS) trajectories. One uses linear programming for time-optimal control, while the other efficiently distributes load for faster execution, enabling real-time applications.

Area of Science:

  • Robotics
  • Control Systems
  • Optimization

Background:

  • Cooperative multi-manipulator systems (CMMS) require efficient trajectory planning for complex tasks.
  • Existing methods may not fully utilize system dynamics or computational efficiency.

Purpose of the Study:

  • To present two novel schemes for time-optimal trajectory planning in CMMS carrying a common object.
  • To account for manipulator and object dynamics in trajectory optimization.

Main Methods:

  • Linear programming to achieve time-optimal execution using maximum joint motor torque capacities.
  • A computationally efficient sub-time-optimal approach involving load distribution among manipulators to maximize acceleration/deceleration.

Main Results:

Related Experiment Videos

  • The linear programming approach yields time-optimal trajectories by maximizing joint motor torques.
  • The load distribution method significantly reduces computation time, degenerating to a linear search for two robots.
  • The load distribution scheme enables real-time planning and control, and can yield truly time-optimal trajectories in specific cases.

Conclusions:

  • Two effective schemes for time-optimal trajectory planning in CMMS are presented.
  • The load distribution method offers computational efficiency and real-time applicability for CMMS control.
  • Both methods successfully incorporate manipulator and object dynamics for optimized task execution.