a coordinated motion planning with dual robotic arms

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scut_whg
Posts: 11
Joined: 21 Oct 2019, 08:24

a coordinated motion planning with dual robotic arms

Post by scut_whg »

I want to do a coordinated motion planning with dual robotic arms and pine coordination with dual robotic arms, that is, the two robotic arms complete their own work but their working spaces overlap. My thinking is: the robot arm 1 and the robot arm 2 perform separate motion planning, and then compare whether the two paths collide during the operation. If it occurs, add the path information of the robot arm 1 to the robot arm 2, and the robot arm 2 Replan the path until no collisions occur.
I would like to ask how to achieve programming in accordance with my thinking? Or do you have better suggestions and ideas?

fferri
Posts: 1193
Joined: 09 Sep 2013, 19:28

Re: a coordinated motion planning with dual robotic arms

Post by fferri »

What is the benefit of splitting the problem like this compared to solving it all at once (that is: one state space describing both robots)?

ik-123
Posts: 10
Joined: 26 Jan 2020, 13:39

Re: a coordinated motion planning with dual robotic arms

Post by ik-123 »

Hi, I am highly interested in such an operation especially synchronizing the motion for pick and place tasks; can you share the updates regarding this project? You can also DM me for sharing thoughts and further collaboration.

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