An Alternate Priority Planning Algorithm for Dual-Arm Systems
Jen‐Hui Chuang, Chien-Chou Lin, Tsun-hou Chou · 2006
An alternate priority path planning algorithm for dual-manipulator systems is proposed in this paper. A master-slave architecture is used to deal with the coordination of two manipulators by alternately identifying configurations of the two manipulators. The proposed method utilizes a generalized potential field to evaluate repulsion between manipulators and obstacles in a workspace, so collision avoidance of the planned path can be guaranteed. The simulation results show that proposed algorithm is efficient, even in a narrow passage