An alternate priority planning algorithm for dual-arm systems

Jen-Hui Chuang*, Chien Chou Lin, Tsun Hou Chou

*Corresponding author for this work

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

3 Scopus citations

Abstract

An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A masterslave 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.

Original languageEnglish
Title of host publicationInternational Symposium on Industrial Electronics 2006, ISIE 2006
Pages3084-3089
Number of pages6
DOIs
StatePublished - 1 Dec 2006
EventInternational Symposium on Industrial Electronics 2006, ISIE 2006 - Montreal, QC, Canada
Duration: 9 Jul 200613 Jul 2006

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume4

Conference

ConferenceInternational Symposium on Industrial Electronics 2006, ISIE 2006
CountryCanada
CityMontreal, QC
Period9/07/0613/07/06

Keywords

  • 3-D workspace
  • Collision avoidance
  • Dual-manipulator system
  • Path planning
  • Potential model

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    Chuang, J-H., Lin, C. C., & Chou, T. H. (2006). An alternate priority planning algorithm for dual-arm systems. In International Symposium on Industrial Electronics 2006, ISIE 2006 (pp. 3084-3089). [4078884] (IEEE International Symposium on Industrial Electronics; Vol. 4). https://doi.org/10.1109/ISIE.2006.296108