Motion planning based on multiple kinematic performance measures for bimanual robotic tasks

Planning motions of a bimanual robot is difficult due to the redundancy of the two manipulators. Task-compatibility-based motion planning is developed to derive velocity commands that can fairly increase control performance of force and velocity control. The robots can avoid singularity through task-compatibility-motion planning by escaping the worst case of velocity and force manipulability. This paper combines multiple kinematic performance measures involving task compatibility and joint movement to plan motions of the bimanual robot. Each performance measure is normalized to keep any single measure from dominating others. The proposed approach is evaluated by simulation with an L-shaped peg-in-hole assembly and two 3-dof manipulators.