Shadow space modeling for task planning of dual manipulators

摘要

This paper presents a collision-free task planning method for dual manipulators by introducing shadow space modeling concept. The shadow space is defined as a subset of working space that is occupied by the robot's movement. The collision can be detected and prevented by computing the intersection of two manipulators' shadow spaces. Then a novel genetic algorithm with mutual exclusive chromosomes is proposed to solve the collision-free optimal task sequences for the dual manipulators.