Tomasz Konrad Duch

Collision-Free Cooperative MegaCRN-Enhanced Model for Multi-Manipulator Motion Planning in Shared Workspaces

Shared-workspace robotic cells increasingly require multiple manipulators to operate simultaneously for part exchange, tool changing and temporary access to confined spaces. This paper develops a MegaCRN-CM model for collision-free cooperative motion planning, which enhances MegaCRN with collision memory, kinematic gra...