Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time
AbstractDual-arm robots are expected to perform work in a dynamic environment. One of the most basic tasks that a dual-arm robot does is pick-and-place work. However, this work is more complicated when there are several objects in the robot’s workspace. Additionally, it is likely to take a long time to finish the work as the number of objects increases. Therefore, we propose a method using a combination of two approaches to achieve efficient pick-and-place performance by a dual-arm robot to minimize its operation time. First, we use mixed integer linear programming (MILP) for the pick-and-place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree so that the arms do not collide, enabling the robot to perform efficient pick-and-place work based on the MILP planning solution. The effectiveness of the proposed method is confirmed by simulations and experiments using an actual dual-arm robot. View Full-Text
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Kurosu, J.; Yorozu, A.; Takahashi, M. Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time. Appl. Sci. 2017, 7, 1210.
Kurosu J, Yorozu A, Takahashi M. Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time. Applied Sciences. 2017; 7(12):1210.Chicago/Turabian Style
Kurosu, Jun; Yorozu, Ayanori; Takahashi, Masaki. 2017. "Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time." Appl. Sci. 7, no. 12: 1210.
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