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 program- ming approach is used for accomplishing such avoidance specifications.
Distributed Self-Organizing Control and Coordination of Cooperative Mobile Manipulator Systems
E Zereik
2010
Abstract
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 program- ming approach is used for accomplishing such avoidance specifications.File in questo prodotto:
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