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Collision-free coordination of two dual-arm robots with assembly precedence constraint
- Lee, Duck-Hyun;
- Kim, Dong-Hyung;
- Lee, Ji Yeong;
- Han, Chang-Soo
Citations
SCOPUS
7초록
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. © 2014 Institute of Control, Robotics and Systems (ICROS).
키워드
Assembly Precedence Constraint; Coordination Algorithm; Decoupled Method; Multi-Robot Motion Planning; Motion planning; Robotic arms; Robots; Collision-free coordination; Coordination algorithms; Decoupled methods; Dual-arm robot; Multi-robot motion planning; Precedence constraints; Robot programming
- 제목
- Collision-free coordination of two dual-arm robots with assembly precedence constraint
- 저자
- Lee, Duck-Hyun; Kim, Dong-Hyung; Lee, Ji Yeong; Han, Chang-Soo
- 발행일
- 2014-12
- 유형
- Conference Paper
- 저널명
- International Conference on Control, Automation and Systems
- 페이지
- 515 ~ 520
- 언어
- ENG
- 분량
- 6 페이지
- ISSN
- P 1598-7833