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Chau-Chang Wang

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

2 papers

1 author row

ICRA Conference 1996 Conference Paper

Motion planning for multiple mobile manipulators

Jaydev P. Desai
Chau-Chang Wang
Milos Zefran
Vijay Kumar 0001

We address the motion planning for "fixtureless" material-handling with multiple manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate and transport objects while holding them in a stable grasp. We present a general approach that allows generation of optimal trajectories and actuator inputs for any given maneuver. Constraints such as limitations on the turning radii of the mobile manipulators or bounds on their separation can be easily incorporated into the planning scheme. Numerical solutions for several maneuvers including abrupt turns, parallel parking in cluttered environments and changes in formation are computed. Finally, we present experimental results with two mobile manipulators.

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ICRA Conference 1995 Conference Paper

The Performance of a Repeatable Control Scheme for Redundant Robots

Chau-Chang Wang
Vijay Kumar 0001

This paper addresses the determination of joint motions for a given end effector displacement in kinematically redundant manipulators. It is well known that velocity control schemes, such as pseudoinverse control, do not guarantee repeatability. But it is possible to obtain repeatable solutions by controlling the manipulator joints so that they behave like elastic couplings. The joint configuration adopted by the manipulator at a given point in task space is one which minimizes the potential energy of the system and is unique. In this paper, we investigate the existence and uniqueness of solutions (joint displacements) for a given end effector displacement. We identify singularities in the algorithm and their physical significance. Finally, we show that it is important to consider the stability of the manipulator at a given configuration and discuss practical considerations in implementing such algorithms.

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