Task-oriented path planning for the coordinated motion of two manipulators

This paper deals with the problem of motion resolution between two cooperating manipulators working on the same workpiece. Based on some mathematical analysis of the inherent characteristics of the coordinated motion, we explain how to resolve the redundancy in the path specification stage or in the trajectory generation stage. As an application of the motion resolution in the path specification stage, we describe the details of the sharp-cornered path tracking strategy where a robot and a positioning table move simultaneously so that the desired path cast be followed at a high speed without infeasible torque/force demand. Especially, we provide a condition on the feasible paths of the robot while the table follows a straight lane path. Also, we compare the advantages and disadvantages of several parameterized curves satisfying the condition in respect to the path specification and the trajectory generation. This work would provide a basis for the development of a generalized multiple-robot language which can describe user's preference and task characteristics in the redundant environments.