Simultaneous dual-arm motion planning considering shared transfer path for minimizing operation time

Jun Kurosu, Ayanori Yorozu, Masaki Takahashi

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

1 Citation (Scopus)

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'. Therefore, we propose a motion planning method to achieve efficient pick-up and place work considering shred 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 languageEnglish
Title of host publication2017 Asian Control Conference, ASCC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages467-472
Number of pages6
Volume2018-January
ISBN (Electronic)9781509015733
DOIs
Publication statusPublished - 2018 Feb 7
Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
Duration: 2017 Dec 172017 Dec 20

Other

Other2017 11th Asian Control Conference, ASCC 2017
CountryAustralia
CityGold Coast
Period17/12/1717/12/20

ASJC Scopus subject areas

  • Control and Optimization

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    Kurosu, J., Yorozu, A., & Takahashi, M. (2018). Simultaneous dual-arm motion planning considering shared transfer path for minimizing operation time. In 2017 Asian Control Conference, ASCC 2017 (Vol. 2018-January, pp. 467-472). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287215