On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment

摘要

In this paper, we investigate on-line motion planning for a specific, butpractically interesting part-feeding scenario where two robot arms must grab parts as they arrive on a conveyor belt and transfer them to given goals without collision. Section 2 relates our work to previous research and reviews motion planning concepts used in the rest of this paper. Section 3 describes the part-feeding scenario that we use to investigate on-line manipulation planning. Section 4 gives an overview of our planner and Section 5 describes in detail the techniques it uses. Section 6 presents several extensions. Section 7 describes the implementation. Section 8 provides measures of this efficiency in a simulated robot environment. Section 9 reports on the connection of the planner to a real robot system.