Abstract: A profound approach about dual-arm robot collision-free motion
planning is made. The method of configuration space is first and
successfully applied to the collision-free motion planning of
dual-arm robot, and a new concept, slave-arm collision state
graph, is presented. In this algorithm, the problem of dual-arm
robot collision-free motion planning is reduced to a search in
the collision state graph. With this algorithm, a time optimum
trajectory would be found, or the condition that there is no
feasible solution for the slave-arm is proved. A verification of
this algorithm is made in the dual-arm horizontal articulated
robot SCARATES, and the results ascertain that the algorithm is
feasible and effective.
Key words: Dual-arm
robot Collision-free motion planning Collision state graph Configuration space Fire spreading search
Manuscript received on
September 8, 1998; revised manuscript December 15, 1998
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