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Article

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.
Appl. Sci. 2017, 7(12), 1210; https://doi.org/10.3390/app7121210
Received: 23 October 2017 / Revised: 22 November 2017 / Accepted: 22 November 2017 / Published: 23 November 2017
(This article belongs to the Section Mechanical Engineering)
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
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MDPI and ACS Style

Kurosu, J.; Yorozu, A.; Takahashi, M. Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time. Appl. Sci. 2017, 7, 1210. https://doi.org/10.3390/app7121210

AMA Style

Kurosu J, Yorozu A, Takahashi M. Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time. Applied Sciences. 2017; 7(12):1210. https://doi.org/10.3390/app7121210

Chicago/Turabian Style

Kurosu, Jun, Ayanori Yorozu, and Masaki Takahashi. 2017. "Simultaneous Dual-Arm Motion Planning for Minimizing Operation Time" Applied Sciences 7, no. 12: 1210. https://doi.org/10.3390/app7121210

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