Dual-Arm Robot Motion Planning for Collision Avoidance using B-Spline Curve
- Title
- Dual-Arm Robot Motion Planning for Collision Avoidance using B-Spline Curve
- Author
- 한창수
- Keywords
- Path planning; Trajectory planning; Motion planning; Dual-arm robot; B-spline curve; DIMENSIONALITY
- Issue Date
- 2017-06
- Publisher
- KOREAN SOC PRECISION ENG
- Citation
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, No. 6, Page. 835-843
- Abstract
- 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.
- URI
- https://link.springer.com/article/10.1007/s12541-017-0099-zhttps://repository.hanyang.ac.kr/handle/20.500.11754/99277
- ISSN
- 2234-7593; 2005-4602
- DOI
- 10.1007/s12541-017-0099-z
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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