A concurrent planning algorithm for dual-arm systems

Jen-Hui Chuang, Ting Wei Chan, Chien Chou Lin*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An algorithm for path planning of object held by multiple manipulators is presented in this paper. The proposed path planning algorithm is composed with two planners: path planner of the object and motion planner of manipulators. Both planners use a generalized potential model to evaluate the repulsion between object/manipulators and obstacles, so as to avoid collision. By adding virtual obstacle planes to roughly divide the workspace into several subspaces, a concurrent approach of path planning is also proposed. With each subspace designated to a manipulator, collisions between manipulators can be avoided. Therefore, paths of all manipulators can be planned at the same time.

Original languageEnglish
Title of host publicationAdvances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages541-546
Number of pages6
ISBN (Print)9812708154, 9789812708151
DOIs
StatePublished - 1 Jan 2007
Event10th International Conference on Climbing and Walking Robots, CLAWAR 2007 - Singapore, Singapore
Duration: 16 Jul 200718 Jul 2007

Publication series

NameAdvances in Climbing and Walking Robots - Proceedings of 10th International Conference, CLAWAR 2007

Conference

Conference10th International Conference on Climbing and Walking Robots, CLAWAR 2007
CountrySingapore
CitySingapore
Period16/07/0718/07/07

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