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Collision–Free Trajectory Planning for Two Robot Arms

Published online by Cambridge University Press:  09 March 2009

Youshik Shin  and
Zeungnam Bien
Youshik Shin
Affiliation:
Dept. of Electrical Engineering, KAIST, P.O. Box 150, Chongyangni, Seoul (Korea)
Zeungnam Bien
Affiliation:
Dept. of Electrical Engineering, KAIST, P.O. Box 150, Chongyangni, Seoul (Korea)
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Summary

An approach for collision–free trajectory planning along designated paths of two robots in a common workspace is presented. Specifically, in order to describe potential collision between the links of two robots along the designated paths, explicit forms of virtual obstacle are adopted, according to which links of one robot are made to grow while the other robot is forced to shrink as a point on the path. Then, a notion of virtual coordination space is introduced to visualize all the collision–free coordinations of two trajectories. Assuming that a collision–free coordination curve between the two robots is given via a virtual coordination space, the minimum time collision–free trajectory pair for the two robots is sought considering dynamic constraints of torque and velocity bounds of actuators of the two robots.

Keywords

Collision-freePlanningRobotTwo arms
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 205 - 212
Copyright
Copyright © Cambridge University Press 1989

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