Artificial impedance approach of the trajectory generation and collision avoidance for single and dual arm robots

2006 ◽  
pp. 172-189 ◽  
Author(s):  
D. S. Necsulescu
Keyword(s):  
Collision Avoidance ◽  
Trajectory Generation ◽  
Dual Arm

Path Planning Collision Avoidance using Reinforcement Learning

2020 ◽  
Author(s):  
Josias G. Batista ◽  
Felipe J. S. Vasconcelos ◽  
Kaio M. Ramos ◽  
Darielson A. Souza ◽  
José L. N. Silva
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Production Process ◽  
Collision Avoidance ◽  
Production Systems ◽  
Learning Algorithm ◽  
Computational Cost ◽  
Trajectory Generation ◽  
Industrial Robots ◽  
Q Learning

Industrial robots have grown over the years making production systems more and more efficient, requiring the need for efficient trajectory generation algorithms that optimize and, if possible, generate collision-free trajectories without interrupting the production process. In this work is presented the use of Reinforcement Learning (RL), based on the Q-Learning algorithm, in the trajectory generation of a robotic manipulator and also a comparison of its use with and without constraints of the manipulator kinematics, in order to generate collisionfree trajectories. The results of the simulations are presented with respect to the efficiency of the algorithm and its use in trajectory generation, a comparison of the computational cost for the use of constraints is also presented.

Dual-arm robot motion planning for collision avoidance using B-spline curve

2017 ◽  
Vol 18 (6) ◽  
pp. 835-843 ◽  
Author(s):  
Younsung Choi ◽  
Donghyung Kim ◽  
Soonwoong Hwang ◽  
Hyeonguk Kim ◽  
Namwun Kim ◽  
...  
Keyword(s):  
Motion Planning ◽  
Collision Avoidance ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
B Spline ◽  
Spline Curve ◽  
Dual Arm Robot ◽  
Dual Arm

A novel movement-based operation method for dual-arm rescue construction machinery

Robotica ◽  
2014 ◽  
Vol 34 (5) ◽  
pp. 1090-1112 ◽  
Author(s):  
Cheng Fang ◽  
Xilun Ding
Keyword(s):  
Collision Avoidance ◽  
Operational Efficiency ◽  
The Novel ◽  
Construction Machinery ◽  
Operation Method ◽  
Human Arm ◽  
Surveillance Method ◽  
Operating Strategies ◽  
Basic Movement ◽  
Dual Arm

SUMMARYThe issue of the operation method for dual-arm rescue construction machinery is investigated in this paper. To increase its operational efficiency and to save more time at rescue sites, some operating strategies of the human arm are employed to design a novel operation method for construction machinery. On the basis of that, a novel and anthropomorphic task-motion planning and performing framework for rescue construction machinery is established. Firstly, the main tasks construction machinery encounter are summarized, and then, these tasks are decomposed to several manipulation and movement sequences. Finally, several frequently used movements, which consist of some basic movement elements, are designed to be intuitive movement primitives coordinating related movement elements simultaneously to improve the operational efficiency, which forms a novel operation method for rescue construction machinery. Additionally, in order to avoid the potential collision between the dual arms, a self-collision avoidance surveillance method is proposed to guarantee the safety of the novel operation method. An application case is presented to introduce the proposed method specifically, and a typical simulation of a dual-arm grip-and-cut task is carried out to verify the feasibility and effectiveness of the framework.

scholarly journals Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

2020 ◽  
Vol 10 (17) ◽  
pp. 5893
Author(s):  
Maolin Lei ◽  
Ting Wang ◽  
Chen Yao ◽  
Huan Liu ◽  
Zhi Wang ◽  
...  
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Kinematic Model ◽  
Computational Cost ◽  
Time Algorithm ◽  
Upper Body ◽  
Sensitivity Index ◽  
Control Points ◽  
Collision Model ◽  
Dual Arm

Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.

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