A CONCURRENT PLANNING ALGORITHM FOR DUAL-ARM SYSTEMS

Abstract

An algorithm for path planning of object held by multiple manipulators is presented in this paper. The proposed path planning algorithm is composed with two planners: path planner of the object and motion planner of manipulators. Both planners use a generalized potential model to evaluate the repulsion between object/manipulators and obstacles, so as to avoid collision. By adding virtual obstacle planes to roughly divide the workspace into several subspaces, a concurrent approach of path planning is also proposed. With each subspace designated to a manipulator, collisions between manipulators can be avoided. Therefore, paths of all. manipulators can be planned at the same time.