On multi-arm manipulation planning
Published 17 December 2002
Yoshihito Koga, J.-C. Latombe
Citations132
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TL;DR
An approach for solving the automatic generation of motion paths for several cooperating robot arms to manipulate a movable object between two configurations among obstacles is described and illustrated with a robot system made of three arms moving in a 3D environment.
Abstract
This paper considers the automatic generation of motion paths for several cooperating robot arms to manipulate a movable object between two configurations among obstacles. To avoid collisions the robots may have to change their grasp of the object, for example, by passing it from one arm to another. The case where the movable object can only be moved by two arms acting simultaneously is also considered. An approach for solving this planning problem is described and illustrated with a robot system made of three arms moving in a 3D environment. Experiments with a planner implementing this approach show that it is not only fast, but also reliable in finding collision-free paths.>
Keywords
Computer ScienceEngineering
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