조립작업을 위한 양팔로봇의 매니퓰레이션 경로 계획

Abstract

Recently, there have been studies concerned with manipulation planning of the dual-arm robot. But very little of them is known about manipulation planning of the dual-arm robot for the assembly task. The purpose of this paper is to develop the manipulation planning algorithms in this area and to examine the proposed algorithms using the simulator developed on our own. A Randomly-exploring Random Trees (RRT) algorithm, one of the randomized algorithms for path planning, can easily handle the robot planning problems of high degrees of freedom with very low computational cost. Manipulation planning can automatically generate the sequence of two kinds of paths, the path of the robot holding the movable objects at a fixed grasp and the path of the robot while the object is static and stays at a stable placement. The former is called assembly path and the latter is called re-grasping path in this paper. The structure of robot’s configuration space is modified depending on how the movable object is grasped and where it is released in the environment. In this paper, we basically apply the RRT algorithm to the assembly path and the re-grasping path in different ways to get the manipulation path of the dual-arm robot for the assembly task. Finally, both the simple problems like the linear puzzles and the very complicated problems like the alpha puzzles can be solved using the manipulation planning algorithm proposed in this paper. This study is intended to contribute to raising the efficiency of production in the production process, especially the assembly process.