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Development of the “Quad-SCARA” platform and its collision avoidance based on Buffered Voronoi Cell

Published online by Cambridge University Press:  18 September 2023

Xiao Sun Open the ORCID record for Xiao Sun [Opens in a new window] ,
Kazuyoshi Ishida ,
Koji Makino ,
Kotaro Shibayama  and
Hidetsugu Terada
Xiao Sun*
Affiliation:
Department of Mechatronics, University of Yamanashi, Yamanashi, Japan
Kazuyoshi Ishida
Affiliation:
Department of Mechatronics, University of Yamanashi, Yamanashi, Japan
Koji Makino
Affiliation:
Department of Mechatronics, University of Yamanashi, Yamanashi, Japan
Kotaro Shibayama
Affiliation:
Department of Mechatronics, University of Yamanashi, Yamanashi, Japan
Hidetsugu Terada
Affiliation:
Department of Mechatronics, University of Yamanashi, Yamanashi, Japan
*
Corresponding author: Xiao Sun; Email: xsun@yamanashi.ac.jp
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Abstract

As a solution to soft material manipulation, dual-arm robots that are capable of multi-point grasping have become the latest trend due to their higher capability and efficiency. To explore further development in soft material manipulation and go beyond the hardware limit of dual arms, in this paper the robot platform “Quad-SCARA” that consists of four Selective Compliance Assembly Robot Arm (SCARA) is developed and introduced. With the base of hardware platform, a novel collision avoidance system designed for the motion planning of Quad-SCARA in multi-point grasping state is proposed. This system is inspired by the idea of “Buffered Voronoi Cell (BVC),” an algorithm originally proposed for multi-agent collision avoidance. After appropriate adaptation and new proposition in implementation of BVC, the experiments of folding and spreading a handkerchief are performed, and the results in simulation and robot experiments are presented and discussed for the validation and evaluation of entire system.

Keywords

control of robotic systemsmulti-robot systemsmotion planninggraspingmechatronic systemsnovel applications of robotics
Type
Research Article
Information
Robotica , Volume 41 , Issue 12 , December 2023 , pp. 3687 - 3701
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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