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http://dx.doi.org/10.5302/J.ICROS.2008.14.7.656

Motion Planning of Bimanual Robot Using Bimanual Task Compatibility  

Hwang, Myun-Joong (한국과학기술원 기계공학)
Chung, Seong-Youb (충주대학교 기계공학과)
Lee, Doo-Yong (한국과학기술원 기계공학)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.7, 2008 , pp. 656-662 More about this Journal
Abstract
A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.
Keywords
bimanual robot; robotic assembly; motion planning; task compatibility;
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