Abstract
One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.
| Original language | English |
|---|---|
| Title of host publication | Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15 |
| Editors | Rüdiger Dillmann, Emanuele Menegatti, Stefano Ghidoni, Marcus Strand |
| Publisher | Springer Verlag |
| Pages | 67-77 |
| Number of pages | 11 |
| ISBN (Print) | 9783030013691 |
| DOIs | |
| Publication status | Published - 2019 Jan 1 |
| Event | 15th International Conference on Intelligent Autonomous Systems, IAS 2018 - Baden-Baden, Germany Duration: 2018 Jun 11 → 2018 Jun 15 |
Publication series
| Name | Advances in Intelligent Systems and Computing |
|---|---|
| Volume | 867 |
| ISSN (Print) | 2194-5357 |
Other
| Other | 15th International Conference on Intelligent Autonomous Systems, IAS 2018 |
|---|---|
| Country | Germany |
| City | Baden-Baden |
| Period | 18/6/11 → 18/6/15 |
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Keywords
- Advanced motion planning
- Manipulator
- Mixed integer linear programming
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science(all)
Cite this
Milp-based dual-arm motion planning considering shared transfer path for pick-up and place. / Kurosu, Jun; Yorozu, Ayanori; Takahashi, Masaki.
Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15. ed. / Rüdiger Dillmann; Emanuele Menegatti; Stefano Ghidoni; Marcus Strand. Springer Verlag, 2019. p. 67-77 (Advances in Intelligent Systems and Computing; Vol. 867).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Milp-based dual-arm motion planning considering shared transfer path for pick-up and place
AU - Kurosu, Jun
AU - Yorozu, Ayanori
AU - Takahashi, Masaki
PY - 2019/1/1
Y1 - 2019/1/1
N2 - One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.
AB - One of the most basic tasks that a dual-arm robot does is pick-up and place work. Pick-up and place work consists of tasks in which the robot carries objects from a start position (initial position) to a goal position. The following three important points should also be considered when the dual-arm robot does this work efficiently: (1) collision avoidance of the arms, (2) which arm should move an object, and (3) the order in which the objects should be picked up and placed. In addition, dual-arm robot has operation range constraints. Depending on the position relationship between a start position and goal position, unless both arms are used, the object may not be transferred to a goal position. In this paper, we define the transfer path which must use both arms as “shared transfer path”. First, we use mixed integer linear programming (MILP) based planning for the pick-up and place work to determine which arm should move an object and in which order these objects should be moved while considering the dual-arm robot’s operation range. Second, we plan the path using the rapidly exploring random tree (RRT) so that the arms do not collide, enabling the robot to perform efficient pick-up and place work based on the MILP planning solution. The effectiveness of proposed method is confirmed by simulations and experiments using the HIRO dual-arm robot.
KW - Advanced motion planning
KW - Manipulator
KW - Mixed integer linear programming
UR - http://www.scopus.com/inward/record.url?scp=85059884480&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85059884480&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-01370-7_6
DO - 10.1007/978-3-030-01370-7_6
M3 - Conference contribution
AN - SCOPUS:85059884480
SN - 9783030013691
T3 - Advances in Intelligent Systems and Computing
SP - 67
EP - 77
BT - Intelligent Autonomous Systems 15 - Proceedings of the 15th International Conference IAS-15
A2 - Dillmann, Rüdiger
A2 - Menegatti, Emanuele
A2 - Ghidoni, Stefano
A2 - Strand, Marcus
PB - Springer Verlag
ER -