An Optimization-Based Approach to Dual-Arm Motion Planning with Closed Kinematics

This paper addresses the optimization-based planning of collision-free motions for a dual-arm robot with kinematic constraints. Such problems arise, for example, when the robot has to move an object with both arms, whereby the two arms and the gripped object form a closed kinematic chain. Such const...

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Bibliographic Details
Main Authors: Volz, Andreas, Graichen, Knut
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Kinematics
Manipulators
Optimization
Planning
Trajectory
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Summary:This paper addresses the optimization-based planning of collision-free motions for a dual-arm robot with kinematic constraints. Such problems arise, for example, when the robot has to move an object with both arms, whereby the two arms and the gripped object form a closed kinematic chain. Such constrained problems are hard to solve with sampling-based planners, because the probability that a random sample satisfies the closure constraint is practically zero. In contrast, the solution of optimization problems with equality constraints is a well-understood field of research. This paper formulates the motion planning task as optimization problem and proposes a numerical solution using the augmented Lagrangian method for handling constraints. The planner is compared to RRTs, CHOMP and TrajOpt on a set of randomly generated problems for a dual-arm robot with twelve degrees of freedom highlighting the advantages of optimization-based planning.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8593927