Abstract
This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation.
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Acknowledgment
The research supported by the National Natural Science Foundation of China [Grant numbers 51875114], and Self-Planned Task [NO.SKLRS202204B] of State Key Laboratory of Robotics and System (HIT).
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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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Shu, X., Fan, X., Min, K., Ji, Z., Ni, F., Liu, H. (2023). Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_21
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DOI: https://doi.org/10.1007/978-981-99-6489-5_21
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