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政大典藏 > College of Informatics > Department of Computer Science > Periodical Articles > Item 140.119/75051

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/75051

Title:	On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment
Authors:	Li, Tsai-yen;Latombe, Jean-claude 李蔡彥
Contributors:	資科系
Date:	1997
Issue Date:	2015-05-08 16:04:30 (UTC+8)
Abstract:	In a constantly changing and partially unpredictable envi ronment, robot-motion planning must be on-line. The planner receives a continuous flow of information about occurring events and generates new plans while previously planned mo tions are being executed. This article describes an on-line planner for two cooperating arms whose task is to grab parts of various types on a conveyor belt and transfer them to their respective goals, while avoiding collisions with obstacles. Parts arrive on the belt in random order, at any time. Both goals and obstacles may be dynamically changed. This scenario is typi cal of manufacturing cells serving machine tools, assembling products, or packaging objects. The proposed approach breaks the overall planning problem into subproblems, each involving a low-dimensional configuration or configuration x time space, and orchestrates very fast primitives solving these subproblems. The resulting planner has been implemented and extensively tested in a simulated environment, as well as with a real dual- arm system. Its competitiveness has been evaluated against an oracle making (almost) the best decision at any one time; the results show that the planner compares extremely well.
Relation:	International Journal of Robotic Research - IJRR , vol. 16, no. 2, pp. 144-167
Data Type:	article
DOI link:	http://dx.doi.org/10.1177/027836499701600202
DOI:	10.1177/027836499701600202
Appears in Collections:	[Department of Computer Science ] Periodical Articles

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