Collision-free Coordination of Two Dual-Arm Robots with Assembly Precedence Constraint

被引：0
|
作者：
Lee, Duck-Hyun [1 ]
Kim, Dong-Hyung [1 ]
Lee, Ji Yeong [2 ]
Han, Chang-Soo [2 ]
机构：
[1] Hanyang Univ, Dept Mech Engn, Seoul Campus, Seoul, South Korea
[2] Hanyang Univ, Dept Robot Engn, Seoul, South Korea
来源：
2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) | 2014年
关键词：
Coordination Algorithm; Assembly Precedence Constraint; Decoupled Method; Multi-Robot Motion Planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes a coordination of two dual-arm robots when assembly precedence constraints exists. Coordination is also called by the decoupled method that assumes each path for a robot is given. This method is efficient when the number of robot DOF is high which dramatically increases the path planning time. We tested the proposed method through a simulation with two dual-arm robot of 16 DOF. The simulation results verify that the proposed method satisfies given constraint on assembly precedence.
引用
收藏
页码：515 / 520
页数：6
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