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Related Experiment Video

Updated: Jul 7, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

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Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions.

T Tsuji¹, A Jazidie, M Kaneko

¹Dept. of Ind. & Syst. Eng., Hiroshima Univ.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|January 1, 1997

Summary

This summary is machine-generated.

This study introduces a novel trajectory generation method for multi-arm robots. The approach utilizes virtual interaction forces for effective cooperative and competitive task execution, enhancing robotic coordination.

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Coordinating multiple robotic arms presents significant challenges in complex manipulation tasks.
Existing methods often struggle with distributed control and dynamic interactions.

Purpose of the Study:

To propose a novel distributed trajectory generation method for multi-arm robots.
To enable robots to perform cooperative and competitive tasks effectively through simulated interactions.

Main Methods:

A distributed trajectory generation approach using a concept of virtual interaction force.
Modeling interactions between end-effectors and the environment to guide arm movements.

Main Results:

Demonstrated effectiveness in simple cooperative tasks, such as positioning a common object.
Successfully applied to more complex tasks involving relative motions among multiple arms.

Conclusions:

The proposed method offers a robust solution for multi-arm robot coordination.
Virtual interaction forces provide a viable mechanism for distributed control in complex robotic tasks.