Hostname: page-component-77f85d65b8-2tv5m Total loading time: 0 Render date: 2026-03-29T21:00:25.988Z Has data issue: false hasContentIssue false
  • English
  • Français

An approach to time-optimal, smooth and collision-free path planning in a two robot arm environment

Published online by Cambridge University Press:  09 March 2009

Bailin Cao ,
Gordon I. Dodds  and
George W. Irwin
Bailin Cao
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
Gordon I. Dodds
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
George W. Irwin
Affiliation:
Control Engineering Research Group, Department of Electrical and Electronic Engineering, The Queen's University of Belfast, Belfast BT9 5AH (U.K.)
Get access Rights & Permissions [Opens in a new window]

Summary

An approach to time-optimal smooth and collision-free path planning for two industrial robot arms is presented, where path planning and joint trajectory generation are integrated. A suitable objective function, combining the requirements of time optimality and path smoothness, is proposed, which is subject to the continuity of joint trajectories, limits on their rates of change and collision-free constraints. Fast and effective collision detection for the arms is achieved using the Kuhn- Tucker conditions along with the convexity of the distance function and relying on geometrical relationships between cylinders. Nonlinear optimization is used to solve this path planning problem. The feasibility of this method is illustrated both by simulation and by experimental results.

Information

Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 61 - 70
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Koivo, A.K. and Bekey, G.A., “Report of workshop on coordinated multiple robot manipulators: planning, control, and applications” IEEE J. Robotics Automat. 4, No. 1, 91–93 (02, 1988).Google Scholar
2.Brooks, R.A., “Sovling the find-path problem by good representation of free space” IEEE Trans. Syst., Man, Cybem. 13, No. 2,190–197 (03, 1983).CrossRefGoogle Scholar
3.Lozano-Peres, T., “Spatial planning: A configuration space approach” IEEE Trans. Comput. 32,108–120 (02, 1983).CrossRefGoogle Scholar
4.Takahashi, O. and Schilling, R.J., “Motion planning in a plane using generalized Voronoi diagrams” IEEE Trans. Robotics Automat. 5, No. 2,143–150 (04, 1989).CrossRefGoogle Scholar
5.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots” Int. J. of Robotics Research 5, No. 1, 90–98 (1986).CrossRefGoogle Scholar
6.Freund, E. and Hoyer, H., “Pathfinding in multi-robot systems: Solution and applications” Proc. IEEE Int. Conf. Robotics Automat.(1986) pp. 103–111.Google Scholar
7.Roach, J.W. and Boaz, M.N., “Coordinating the motions of robot arms in a common workspace” IEEE J. Robotics Automat. 3, No. 5, 437–444 (10, 1987).CrossRefGoogle Scholar
8.Nagata, T., Honda, K. and Teramoto, Y., “Multirobot plan generation in a continuous domain: Planning by use of plan graph and avoiding collisions among robots” IEEE J. Robotics Automat. 4, No. 1, 2–13 (02, 1988)CrossRefGoogle Scholar
9.Lee, B. H. and Lee, C.S.G., “Collision-free motion planning obots” IEEE Trans. Systems, Man, and Cybem. 17, No. 1, 21–32 (1987).CrossRefGoogle Scholar
10.Dodds, G.I. and Irwin, G.W., “Multi-arm robotics in a practical application under transputer based control” Proc. IEEE Int. Conf. Robotics Automat.,Atlanta, Georgia(May, 1993) pp. 505–550.Google Scholar
11.Chang, C., Chung, M.J. and Bien, Z., “Collision-free motion planning for two articulated robot arms using minimum distance functions” Robotica 8, Part 2,137–144 (1990).CrossRefGoogle Scholar
12.Cao, B., Dodds, G.I. and Irwin, G.W., “Fast collision detection and avoidance in a multiple manipulator environment” Proc. IASTED Int. Conf. Robotics and Manufacturing,Oxford, England(Sept., 1993) pp. 125–128.Google Scholar
13.Lumelsky, V.J., “On fast computation of distance between line segments” Information Processing Letters 21, No. 2, 55–61 (1985).CrossRefGoogle Scholar
14.Whitney, D.E., “Resolved motion rate control of manipulators and human prostheses” IEEE Trans. Man-machine Systems MMS-10, No. 2, 47–53 (1969).CrossRefGoogle Scholar
15.Luh, J.Y.S., Walker, M.W. and Paul, R.P., “Resolvedacceleration control of mechanical manipulators” IEEE Trans. Automatic Control AC-25, No. 3, 468–474 (1980).CrossRefGoogle Scholar
16.De, P.K., Tarn, T.J. and Bejczy, A.K., “Synthesis of trajectory planning using semi-algebraic sets and control of manipulators” Proc. IEEE Int. Conf Robotics Automat.San Diego, California(May, 1994) pp. 2742–2748.Google Scholar
17.Lin, C.S., Chang, P.R. and Luh, J.Y.S., “Formulation and optimization of cubic polynomial joint trajectories for industrial robots” IEEE Trans. Automatic Control AC-28, No. 12, 1067–1074 (12, 1983).Google Scholar
18.Thompson, S.E. and Patel, R.V., “Formulation of joint trajectories for industrial robots using B-splines” IEEE Trans. Industrial Electronics IE-34, No. 2, 192–199 (05, 1987).CrossRefGoogle Scholar
19.Kahn, M.E. and Roth, B., “The near-minimum-time control of open-loop articulated kinematic chains” ASME J. Dynamic System, Measurement, and Control 164–172 (08, 1971).CrossRefGoogle Scholar
20.Shin, K.G. and McKay, N.D., “A dynamic programming approach to trajectory planning of robotic manipulators” IEEE Trans. Automatic Control AC-31, No. 6, 491–500 (06, 1986).CrossRefGoogle Scholar
21.Fletcher, R., Practical Methods of Optimization (John Wiley & Sons, New York, 1987).Google Scholar
22.Gilbert, E.G. and Johnson, D.W., “Distance functions and their application to robot path planning in the presence of obstacles” IEEE J. Robotics Automat. RA-1, No. 1, 21–30 (03, 1985).CrossRefGoogle Scholar
23.Gilbert, E.G. and Foo, C.P., “Computing the distance between general convex objects in three-dimensional space” IEEE Trans. Robotics Automat. 6, No. 1, 53–61 (02, 1990).CrossRefGoogle Scholar
24.Cao, B., Dodds, G.I. and Irwin, G.W., “Time-optimal and smooth constrained path planning for robotic manipulators” Proc. IEEE Int. Conf Robotics Automat.,San Diego, California(1994) pp. 1853–1858.Google Scholar
25.Cao, B. and Dodds, G.I., “Time-optimal and smooth joint path generation planning for robotic manipulators” Proc. IEE Int. Conf Control'94,Coventry, U.K.(March, 1994) pp. 1122–1127.CrossRefGoogle Scholar
26. The Math Works, Inc., Optimization Toolbox User's Guide (06 1993).Google Scholar
27.Wilson, G., Irwin, G.W. and Dodds, G.I., “Development of a transputer based hardware/software system for the control of a SCARA robot” Proc. Int. Conf. Parallel Computing and Transputer Applications,Barcelona, Spain(1992) pp. 1433–1440.Google Scholar