NDLI: On-line collision-free path planning for service and assembly tasks by a two-arm robot

Content Provider	IEEE Xplore Digital Library
Author	Cheng, X.
Copyright Year	1995
Description	Author affiliation: Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany (Cheng, X.)
Abstract	This paper presents a new approach for on-line collision-free path planning of a two-arm manipulator system, integrated in an on-line task-level planning system. For service and assembly tasks, pick and place operations are requested asynchronously by the action sequence planning. Collision-free paths for independent tasks are planning using a 2D geometric model in consideration of the swept regions by the robot arms and the pay loads during their motions. A dynamic, deadlock-free scheduling concept coordinates the robot motions in the case that a collision-free path for one arm can not be found at moment. The on-line path planning for two-arm cooperations for exchanging and regrasping parts incorporates an off-line connectivity analysis, avoiding both collisions and kinematic restrictions. The implemented on-line planning system can generate collision-free path for one manipulator while the other is moving. The time needed for motion planning is in the average case shorter and in the worst case comparable with that needed for motion execution. Experiments have been successfully conducted with the mobile two-arm robot KAMRO at the author's institute.
Starting Page	1523
Ending Page	1528
File Size	637884
Page Count	6
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525491
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Motion planning Manipulators Robot kinematics Robotic assembly Solid modeling System recovery Dynamic scheduling Robot motion Mobile robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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