Workspace Analysis of a Dual-arm Mobile Robot System for Coordinated Operation

With the development of robotics, more and more complicated tasks are expected to be completed by robots, while the operation ability of single-arm robots is limited. To meet this requirement, a mobile dual-arm robot is designed, and the workspace is analyzed. The designed mobile dual-arm robot has a simple and easy-to-operate software system framework and a humanoid looking for effective Human-Robot-Interaction. After solving the forward kinematics, we provide the workspace analysis through the Monte Carlo method. With the extracted boundary of the workspace, the characteristics of the coordinated workspace of the dual-arm robot are provided. To verify the feasibility and effectiveness of our system, we use the designed dual-arm mobile robot to demonstrate manipulation tasks with equipped sensors.

I. Introduction

With the development of modern industry, agriculture and medical care, the requirements for advanced robotic technologies are constantly increasing. However, the traditional single-arm robots cannot satisfy complicated works such as assembling two components and handling bulky or heavy objects. In order to complete the tasks that require high complexity, intelligence, and flexibility, dual-arm mobile robots came into being [1], [2].