Title :
Experiments in dual-arm manipulation planning
Author :
Koga, Yoshihito ; Latombe, Jean-Claude
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA, USA
Abstract :
The problem of dual-arm manipulation planning is to plan the path of two cooperating robot arms to carry a moveable object from a given initial configuration to a given goal configuration amidst obstacles. The authors survey previous work in manipulation planning and relate it to this analysis. A formal configuration space presentation of the problem is given. Three implemented planners are described. These three planners operated in a two-dimensional workspace and addressed increasingly difficult versions of the dual-arm manipulation problem. They were implemented in the C language. Execution times given were obtained by running them on a DEC 5000 workstation
Keywords :
control engineering computing; path planning; robots; 2D workspace; C language; DEC 5000 workstation; cooperating robot arms; dual-arm manipulation planning; formal configuration space presentation; path planning; Arm; Computer science; Kinematics; Laboratories; Manipulators; Motion planning; Orbital robotics; Path planning; Robotic assembly; Robots;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219925
