Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

Abstract

A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper.The path planning method is based on motion constraints between the end-effectors of cooperative robots.Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here.In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

Inverse kinematics-based motion planning for dual-arm robot with orientation constraints

“…Gharbi et al 16 used the singular configurations to connect different self-motion manifolds. Position/orientation constraints and joint velocity constraints between cooperative robots 17 were mainly investigated. However, the above methods are only suitable for closed-chain path planning problems.…”

“…Sampling-based algorithms [2][3][4][5] in general are considered the dominant approach in dealing with the motion planning problem of high-DOF robotic manipulators because of efficiency, conveniently handling kinodynamic constraints, 6 and probabilistic completeness. Recently, sampling-based methods [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24] have also been extended to deal with manipulation planning problem under pose or kinematic closure constraints. However, these planners usually are difficult to solve the dual-arm motion planning involving orientation constraints of the robot's end-effector.…”

A review on the evolvement trend of robotic interaction control

“…Lee (1989) represents a task-oriented dual-arm manipulability measure for the master–slave architecture to achieve optimal configuration of manipulators. Gilgueng et al (2004) analyzed the position/orientation singularities and the manipulability of a single-master multi-slave robotic system (Gilgueng et al , 2004) and Gan et al (2012) represented a path planning algorithm by which the motion constraint between end-effector of master robot and slave robot are satisfied. Similarly, Luh and Zheng (1987) analyzed the orientation/position and velocity constraints in master–slave cooperative manipulation.…”

Off-Line Programming Techniques for Multirobot Cooperation System

“…In reference [14], cooperative motions for multiple robot systems have been classified into three types according to relative motions between end-effectors of individual robot, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Since cartesian trajectory of cooperative motion in robot joint space is hard to imagine, only cooperations between robots in cartesian space is considered here.…”