Online Motion Planning for Dual-Arm Industrial Robots

Konferenz: ISR 2018 - 50th International Symposium on Robotics
20.06.2018 - 21.06.2016 in München, Germany

Tagungsband: ISR 2018

Seiten: 8Sprache: EnglischTyp: PDF

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Beuke, Felix (Robert Bosch GmbH, Renningen, Germany & University of Stuttgart, Germany,)
Alatartsev, Sergey; Jessen, Simon; Hanel, Christian (Robert Bosch GmbH, Renningen, Germany)
Verl, Alexander (University of Stuttgart, Germany)

This paper proposes an approach which makes industrial dual-arm robots usable at system level. As a design guideline, we are led by the idea that a dual-arm industrial robot system should be usable in the same way as a typical single-arm industrial robot is used today. To reach this goal, we describe a motion planning and control architecture which automatically plans and executes coordinated collision-free motions for industrial dual-arm robot systems. We compare the proposed automatic motion-planning approach to a conventional manual coordination approach based on geometric features of a specific task and evaluate the performance of both approaches on a real system.