期刊
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING
卷 18, 期 6, 页码 835-843出版社
KOREAN SOC PRECISION ENG
DOI: 10.1007/s12541-017-0099-z
关键词
Path planning; Trajectory planning; Motion planning; Dual-arm robot; B-spline curve
资金
- Ministry of Trade, Industry Energy
- Korea Evaluation Institute of Industrial Technology (KEIT) [10060110]
- Korea Evaluation Institute of Industrial Technology (KEIT) [10060110] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot's actuator so we regard this as a low quality path. To improve the quality of path, we propose the B-spline trajectory planning algorithm that transforms the path into the collision-free and smooth trajectory. And as a specific example of application, we applied our proposed algorithm on cell-phone assembly task using the dual-arm robot. The simulation results show that the smooth and collision-free trajectories for the task can be generated with our motion planning simulator.
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