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http://dx.doi.org/10.5302/J.ICROS.2015.15.0085

Optimized Motion Planning Considering the Lifetime for Bimanual Robotic Assembly  

Hwang, Myun Joong (Department of Mechanical Engineering, Korea National University of Transportation)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.10, 2015 , pp. 972-976 More about this Journal
Abstract
The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.
Keywords
bimanual robot; motion planning; kinematics; optimization;
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Times Cited By KSCI : 5  (Citation Analysis)
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