Research on trajectory planning of dual-arm cooperative robot
نویسندگان
چکیده
منابع مشابه
Dual-Arm Robot Motion Planning Based on Cooperative Coevolution
This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we fo...
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The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the join...
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This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
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The paper presents path planning of dual arm free flying space robot using smooth functions of time. Kinematic and dynamic modeling of dual arm free flying space robot is presented first. Using kinematic model the Jacobian of the system and using dynamic model equation of motion are derived. A path planning methodology for planar system is developed using smooth function of time such as polynom...
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Abstract— In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patient’s arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm analyzed is the two degrees of fre...
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ژورنال
عنوان ژورنال: Journal of Physics: Conference Series
سال: 2021
ISSN: 1742-6588,1742-6596
DOI: 10.1088/1742-6596/1820/1/012025