In this paper, we investigate on-line motion planning for a specific, but practically interesting part-feeding scenario where two robot arms must grab parts as they arrive on a conveyor belt and transfer them to given goals without collision. Section 2 relates our work to previous research and reviews motion planning concepts used in the rest of this paper. Section 3 describes the part-feeding scenario that we use to investigate on-line manipulation planning. Section 4 gives an overview of our planner and Section 5 describes in detail the techniques it uses. Section 6 presents several extensions. Section 7 describes the implementation. Section 8 provides measures of this efficiency in a simulated robot environment. Section 9 reports on the connection of the planner to a real robot system.
On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment
1994
34 pages
Report
No indication
English
Robotics/Robots , Computers, Control & Information Theory , Manipulators , Materials handling equipment , Robot arms , Trajectory planning , Collision avoidance , Robot dynamics , Robot control , Dynamic control , Trajectory analysis , Environment simulation , Real-time systems , Trajectory control , Robots
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