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Collision-free coordination of two dual-arm robots with assembly precedence constraint
- Issue Date
- Dec-2014
- Keywords
- Assembly Precedence Constraint; Coordination Algorithm; Decoupled Method; Multi-Robot Motion Planning
- Citation
- International Conference on Control, Automation and Systems, pp 515 - 520
- Pages
- 6
- Indexed
- SCOPUS
- Start Page
- 515
- End Page
- 520
- ISSN
- 1598-7833
- Abstract
- 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).
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Related Researcher
- Lee, Ji Yeong
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)