Online Motion Planning for Dual-Arm Industrial Robots

Inhalt:
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.