Single and Dual Arm Manipulator Motion Planning Library
Behnam Asadi
In Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, (IROS), 2015, o.A., Oct/2015.
Abstract
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In this work a library for solving manipulator motion planning problems has been developed and an algorithm for imposing Cartesian constraint in single arm and dual arm operation has been proposed. The main algorithm is based on RRT [1]. The code has been tested with several single arm and dual arm robots. We have achieved to find collision free paths in environments occupied with obstacles. Example of such environments is the shelf from Amazon picking challenge. The implemented code also enabled us to perform complicated dual arm operations such as opening a hand wheel or opening a drawer.
Keywords
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Manipulator motion planning, dual arm operation, planning under Cartesian constraint, robotics.