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政大典藏 > College of Informatics > Department of Computer Science > Periodical Articles > Item 140.119/75874

Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/75874

Title:	On-Line Manipulation Planning for Two Robot Arms in a Dynamic Enviroment
Authors:	Li, Tsai-yen;Latombe, Jean-Claude 李蔡彥
Contributors:	資科系
Date:	1995
Issue Date:	2015-06-17 14:54:28 (UTC+8)
Abstract:	In a dynamic and partially unpredictable environment, 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 motions are being executed. This paper describes an on-line planner for two cooperating arms whose task is to grab parts on a conveyor belt and transfer them to their respective goals, while avoiding collision with obstacles. Parts arrive on the belt in random order, at any time. This scenario is typical 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 both in a simulated environment and with a real dual-arm system. Its competitiveness has been evaluated against an oracle making (almost) the best decision at any one time. The planner compares extremely well
Relation:	International Conference on Robotics and Automation - ICRA , vol. 1, pp. 1048-1055 vol.1
Data Type:	article
DOI link:	http://dx.doi.org/10.1109/ROBOT.1995.525420
DOI:	10.1109/ROBOT.1995.525420
Appears in Collections:	[Department of Computer Science ] Periodical Articles

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