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A real-time dual-arm collision avoidance algorithm for assembly

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3 Author(s)
S. Lee ; Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; H. Moradi ; Chunsik Yi

Multi-robot workcells provide efficiency of space, time, and materials in assembly. However this advantage cannot be fully utilized unless an efficient offline/online collision-free trajectory planner is in charge of controlling the arms. In this paper a new algorithm which provides the online and real-time generation of dual-arm collision-free trajectories has been established. The algorithm is capable of generating dual-arm collision-free trajectories in real-time despite that the initial configurations of two arms are not synchronized. The key component of the algorithm is the virtual road map (VRM) which gives the best collision-free motion at each given arm configuration

Published in:

Assembly and Task Planning, 1997. ISATP 97., 1997 IEEE International Symposium on

Date of Conference:

7-9 Aug 1997