Investigation on a New Discrete-Time Synchronous Motion Planning Scheme for Dual-Arm Robot Systems
Recently, the synchronous motion planning (SMP) has been viewed as a crucial issue in dual-arm robot systems. In this study, a new SMP scheme based on the Jacobian pseudoinverse formulation is presented and investigated for dual-arm robot systems. Such a scheme is established by discretizing the exi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9247136/ |
| Summary: | Recently, the synchronous motion planning (SMP) has been viewed as a crucial issue in dual-arm robot systems. In this study, a new SMP scheme based on the Jacobian pseudoinverse formulation is presented and investigated for dual-arm robot systems. Such a scheme is established by discretizing the existing SMP scheme via a special difference formula. The presented discrete-time SMP (DTSMP) scheme is then theoretically analyzed to possess the biquadrate pattern in the end-effector planning error of each arm, thereby guaranteeing the synchronous planning precision of dual-arm robot systems. Simulation results under the system composed of two four-link planar robot arms are provided to further substantiate the effective and superior performance of the presented DTSMP scheme. |
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| ISSN: | 2169-3536 |