Motion Planning of Bimanual Robot Using Bimanual Task Compatibility

작업 적합도를 이용한 양팔 로봇의 운동 계획

  • 황면중 (한국과학기술원 기계공학) ;
  • 정성엽 (충주대학교 기계공학과) ;
  • 이두용 (한국과학기술원 기계공학)
  • Published : 2008.07.01


A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.


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