Trajectory planning for a multi-arm robot in an assembly task

  • R. Zapata
  • P. Coiffet
  • A. Fournier


This paper deals with safe trajectory planning problems, evolving in crowded environments, for assembly manipulators. Solutions to such problems are essential to the automatic planning of Robots’ movements. In this paper we survey mathematical hypotheses used for solving the above problems, and develop a solution, used in a two-arm assembly experiment: the method is based on a depth first search in the robot configurations graph.


Control Object Trajectory Planning Modelling Operation Solid Object Assembly Task 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Crane Russak & Company Inc 1984

Authors and Affiliations

  • R. Zapata
    • 1
  • P. Coiffet
    • 1
  • A. Fournier
    • 1
  1. 1.Sciences et Techniques du LanguedocLaboratoire d’Automatique de Montpellier UniversitéMontpellierFrance

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