@inproceedings{fe56f543a97642f287a07b39708f8700,
title = "Constraints analysis and motion planning for coordinated manipulation of a dual-arm robot",
abstract = "Coordinated manipulation of dual-arm robots has attracted the interest of researchers from industry and academia. This paper presents constraints analysis and motion planning for coordinated manipulation of a dual-arm robot that is developed for remote maintenance for tokamak. The constraints of dual-arm manipulator including position and orientation constraints and velocity constraints are analyzed for loose coordinated operation and tight coordinated operation. On this basis, a motion planning method in Cartesian space is proposed for dual-arm manipulator coordinated movement, using polynomial interpolation to ensure the smoothness of joint position, velocity and acceleration. The correctness of constraints analysis and motion planning algorithm is verified by the simulation results of the dual-arm manipulator performing a coordinated carrying task.",
keywords = "Constraints analysis, Coordinated manipulation, Dual-arm robots, Motion planning",
author = "Jian Li and Yixiang Liu and Xizhe Zang",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Information and Automation, ICIA 2018 ; Conference date: 11-08-2018 Through 13-08-2018",
year = "2018",
month = aug,
doi = "10.1109/ICInfA.2018.8812521",
language = "英语",
series = "2018 IEEE International Conference on Information and Automation, ICIA 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1422--1426",
booktitle = "2018 IEEE International Conference on Information and Automation, ICIA 2018",
address = "美国",
}