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Operational space path planning of the dual-arm robot for the assembly task
| Content Provider | Semantic Scholar |
|---|---|
| Author | Lim, Sung-Jin Han, Chang-Soo |
| Copyright Year | 2014 |
| Abstract | The assembly task involving complex parts by the dual-arm robot conducted in configuration space tends to require the heavy computational load, especially when the robot motion is constrained to avoid any collisions during the assembly task. Thus, this study suggested the path planning algorithm of the dual-arm robot in operational space for the assembly task involving complex parts and conducted the simulations to verify the effectiveness of the suggested method. The results show that the suggested path planning method on operational space is more effective compared to the conventional path planning method in configuration space, particularly in aspects of the computational time. |
| Starting Page | 2071 |
| Ending Page | 2076 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.1007/s12541-014-0565-9 |
| Volume Number | 15 |
| Alternate Webpage(s) | https://page-one.springer.com/pdf/preview/10.1007/s12541-014-0565-9 |
| Alternate Webpage(s) | https://doi.org/10.1007/s12541-014-0565-9 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
