Robotic systems designed specifically for space applications often exhibit a high level of autonomy to reduce the costs associated with having humans in space. This paper presents a method for autonomously planning collision free paths for two cooperating robots in a static environment. The method performs selective mapping of configuration space while attempting to locate a safe path. The method is based around an algorithm aimed at transversing a space of arbitrary dimension which contains both safe and unsafe regions. While the procedure cannot guarantee finding a solution even if one may exist, it is intended to find a solution to many practical path planning problems within a reasonable amount of time. Results are presented for applying the procedure to two cooperating six degree of freedom manipulators (Puma 560s).


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    Title :

    A method for planning collision free trajectories for two cooperating robots


    Contributors:

    Publication date :

    1992-03-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :