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By Xue Q., Maciejewski A.A., Sheu P.C.-Y.

The matter of course making plans for 2 planar robotic manipulators that cooperate in wearing an oblong item from an preliminary place and orientation to a vacation spot place and orientation in a 2-D setting is investigated. during this process, the 2 robotic fingers, the carried item and the directly line connecting the 2 robotic bases jointly are modeled as a 6-link closed chain. the matter of course making plans for the 6-link closed chain is solved via significant algorithms: the collision-tree possible configuration discovering set of rules and the collision-free direction discovering set of rules. the previous maps the loose house within the Cartesian global area to the robot's joint house within which all of the collision-free possible configurations (CFFC's) for the 6-link closed chain are discovered. The latter builds a connection graph of the CFFC's and the transitions among any teams of CFFC's at adjoining joint durations. eventually, a graph seek procedure is hired to discover a collision-free course for every joint of the robotic manipulators. The proposed algorithms can care for cluttered environments and is sure to discover a answer if one exists.

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