Next Article in Journal
Investigation of Heat Loss from the Finned Housing of the Electric Motor of a Vacuum Pump
Previous Article in Journal
Methods to Evaluate the Aging Grades of Reclaimed Asphalt Binder
Article Menu
Issue 12 (December) cover image

Export Article

Open AccessArticle
Appl. Sci. 2017, 7(12), 1210; https://doi.org/10.3390/app7121210

Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time

1
School of Science for Open and Environmental Systems, Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
2
Graduate School of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
3
Department of System Design Engineering, Faculty of Science and Technology, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
*
Author to whom correspondence should be addressed.
Received: 23 October 2017 / Revised: 22 November 2017 / Accepted: 22 November 2017 / Published: 23 November 2017
(This article belongs to the Section Mechanical Engineering)
View Full-Text   |   Download PDF [5450 KB, uploaded 24 November 2017]   |  

Abstract

Dual-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
Keywords: dual-arm robot; motion planning; pick-and-place; manipulation dual-arm robot; motion planning; pick-and-place; manipulation
Figures

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Supplementary material

SciFeed

Share & Cite This Article

MDPI and ACS Style

Kurosu, J.; Yorozu, A.; Takahashi, M. Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time. Appl. Sci. 2017, 7, 1210.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top