Distributed Control and Coordination of Cooperative Mobile Manipulator Systems

被引：6

作者：

Simetti, Enrico ^{[1
]}

Turetta, Alessio ^{[1
]}

Casalino, Giuseppe ^{[1
]}

机构：

[1] Univ Genoa, DIST, Genoa, Italy

来源：

DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8 | 2009年

关键词：

REDUNDANCY RESOLUTION; MOTION COORDINATION;

D O I：

10.1007/978-3-642-00644-9_28

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The paper deals with the problem of suitably coordinating the movement of two mobile manipulators in order to accomplish a given task in a cooperative way, avoiding the arms' singular postures and joint limits. A dynamic programming approach is used for accomplishing such avoidance specifications.

引用

页码：315 / 324

页数：10

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