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Updated: Jul 7, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

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

Summary

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.

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Last Updated: Jul 7, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

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:

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.