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'Royal College of Obstetricians & Gynaecologists (RCOG)'
Abstract
A method for obtaining coordinated motion plans of robot manipulators is presented.
A decoupled planning approach has been used; that is, the problem has been
decomposed into two subproblems: path planning, where a collision-free path is
found for each robot independently only considering fixed obstacles, and trajectory
planning, where the paths are timed and synchronized to avoid collisions with other
robots. This article focuses on the second problem. The proposed plan can easily be
implemented by programs written in most industrial robot programming languages.
The generated programs minimize the total motion time of the robots along their
paths. The method does not require accurate dynamic models of the robots and uses
an evolutionary algorithm followed by a local search which produces near optimal
solutions with a relatively small computational cost
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