摘要: This dissertation considers the manipulation task planning of automaticallygenerating the trajectories for several cooperating robot arms to manipulate a movable object to a goal location among obstacles. We address this problem i... 展开 This dissertation considers the manipulation task planning of automaticallygenerating the trajectories for several cooperating robot arms to manipulate a movable object to a goal location among obstacles. We address this problem in a practical two-phase approach. In step one, using a heuristic we compute a collision-free path for robots and the movable object. For the case of multiple robot arms with many degrees of freedom, this step may fail to find the desired path even though it exists. In step two, we then find the time-parameterization of the path such that the dynamic constraints on the robot are satisfied. In fact, we find the time-optimal solution for the given path. We show simulation results for various complex examples. 收起