Title :
An Alternate Priority Planning Algorithm for Dual-Arm Systems
Author :
Chuang, Jen-Hui ; Lin, Chien-Chou ; Chou, Tsun-Hou
Author_Institution :
Depart. of Comput. Sci., Nat. Chiao Tung Univ., Hsinchu
Abstract :
An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A master-slave architecture is used to deal with the coordination of two manipulators by alternately identifying configurations of the two manipulators. The proposed method utilizes a generalized potential field to evaluate repulsion between manipulators and obstacles in a workspace, so collision avoidance of the planned path can be guaranteed. The simulation results show that proposed algorithm is efficient, even in a narrow passage
Keywords :
collision avoidance; manipulators; alternate priority planning algorithm; collision avoidance; dual-arm systems; dual-manipulator systems; master-slave architecture; Collision avoidance; Computer science; Jacobian matrices; Manipulators; Master-slave; Multirobot systems; Orbital robotics; Path planning; Robot kinematics; Torque; 3-D workspace; collision avoidance; dual-manipulator system; path planning; potential model;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.296108
