Collision-free motion planning of dual-arm reconfigurable robots

Fei, Yanqiong; Fuqiang, Ding; Zhao, Xin

doi:10.1016/j.rcim.2004.01.002

Cited by 27 publications

(15 citation statements)

References 18 publications

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“…In robotics, many methods about motion or path planning for collision free of the multiple robot manipulators have already been studied for some time. For example, these works in [1][2][3][4][5][6][7][8][9][10] explain path and motion planning methods for collision avoidance. There are two main points in these papers.…”

Section: Literature Reviewmentioning

confidence: 99%

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

et al. 2020

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Many solutions about the teleoperation of unmanned robotic excavators have been studied continuously. However, if excavators that are remotely controlled were employed, the probability of an accident would be higher. For this reason, there have been many ways proposed to attempt to reduce accidents in these dangerous situations. In this paper, a novel methodology will be introduced with a focus on the multiple excavators themselves. The proposed method details how one excavator can be generated or expressed as an obstacle in the Configuration-Space (C-space) with respect to another excavator’s side for collision avoidance each other. This method is based on kinematics information which is measurable and given. Therefore, this method can be used or applied independently by using widely used pose sensors and wireless communication devices. The phase of mathematical derivation about obstacle sets is described in detail. The results are shown in accompanying figures and tables for demonstrating that the proposed method detected the proximity and found the collision-free zone accurately. The proposed system can be powerful when applied to a teleoperation system, where it would be particularly useful and helpful to the operator.

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Section: Literature Reviewmentioning

confidence: 99%

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

et al. 2020

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“…Subsequent to this work, Sun (2010) identified the main problem of multiple robotic manipulators systems: maintaining kinematic relationships amongst robots. Furthermore, Fei et al (2004) proposed an approach to real-time collision-free motion planning of dual-arm reconfigurable robots. Years later, Saha & Isto (2007) developed an algorithm to control two robotic manipulators to handle deformable linear objects.…”

Section: Related Workmentioning

confidence: 99%

Multiple manipulators path planning using double A*

Tavares

Lima

Costa

et al. 2016

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If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation.*Related content and download information correct at time of download. Abstract. Purpose -Streamlining automated processes are currently undertaken by developing optimization methods and algorithms for robotic manipulators. In this paper a new approach to improve streamlining of automatic processes is presented. This new approach allows for multiple robotic manipulators commonly found in the industrial environment to handle different scenarios, thus providing a high flexibility solution to automated processes. Design/ Methodology / Approach -The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path planning algorithm. Gazebo was the simulation engine chosen and the robotic manipulator used was the universal robot 5 (UR5). The proposed system was tested using the premises of two robotic challenges: EuRoC and Amazon Picking Challenge. Findings The developed system was able to identify and describe the influence of each joint in the Cartesian space; and it was possible to control multiple robotic manipulators safely regardless of any obstacles in a given scene. Practical implications -This new system was tested in both real and simulated environments and data collected showed that this new system performed well in real life scenarios, such as EuRoC and Amazon Picking Challenge. Originality / Value The new proposed approach can be valuable in the robotics field with applications in various industrial scenarios, as it provides a flexible solution for multiple robotic manipulators path and motion planning.

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“…Robotic designers have studied motion planning and collision prevention for the dual arms of a robot in general environments (e.g., Li and Latombe (1997), Fei et al (2004), and Lippiello et al (2007)). The only previous studies of dual-arm robotic cells are from the practice-oriented literature that addresses semiconductor manufacturing (Venkatesh et al, 1997;Rostami et al 2001;Shin et al, 2001;Rostami and Hamidzadeh, 2002;Kim et al, 2003).…”

Section: Literature Reviewmentioning

confidence: 99%

Scheduling robotic cells served by a dual-arm robot

Geismar¹,

Manoj²,

Sethi³

et al. 2012

IIE Transactions

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This article assesses the benefits of implementing a dual-arm robot in a flow shop manufacturing cell. Such a robot has the ability to tend (unload or load) to two adjacent machines simultaneously. This significantly changes the analysis required to find sequences of robot actions that maximize a cell's throughput. For cells processing identical parts, optimal sequences are identified for two-and three-machine cells and also structural results are derived for cells with an arbitrary number of machines. Cells processing different part-types are fully analyzed for the case of two-machine cells. For each case the productivity of single-arm and dual-arm robotic cells is compared.

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Collision-free motion planning of dual-arm reconfigurable robots

Cited by 27 publications

References 18 publications

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

Multiple manipulators path planning using double A*

Scheduling robotic cells served by a dual-arm robot

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