Publikation
Trajectory planning system for bimanual robots: Achieving efficient collision-free manipulation
Francisco José Martínez-Peral; Jorge Borrell Mendez; Dennis Mronga; José Vicente Segura-Heras; Carlos Perez-Vidal
In: Robotics and Autonomous Systems (RAS), Elsevier, 2025.
Zusammenfassung
Pick-and-place operations are non-value-added activities but essential in many industrial processes. Some of these operations must be performed by dual-arm robots, which represent new challenges in terms of collision-avoidance due to the use of a shared workspace. This work addresses these two issues by proposing a Task and Motion Architecture (TMA) designed to optimize pick-and-place tasks, ensuring efficient and safe operation through collision-free movements. This architecture consists of two interconnected sublayers, the Task Planner (TP) and the Global Motion Planner (GMP). The TP calculates the optimal sequence of operations, minimizing the total execution time and guaranteeing a collision-free sequence. The GMP plans the trajectories of the robotic arms using predefined motion strategies and following the calculated optimal sequence. This work presents a novel solution for enhancing the efficiency of robot coordination in real-world settings by integrating an intercommunicated TP and MP. Results from simulations demonstrate improved task efficiency, reduced operational times, and successful collision avoidance between robots.