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

Volume

4

fYear

2006

fDate

9-13 July 2006

Firstpage

3084

Lastpage

3089

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISIE.2006.296108

Filename

4078884