A Sampling-Based Unfixed Orientation Search Method for Dual Manipulator Cooperative Manufacturing

Area of Science:

• Robotics
• Manufacturing Engineering
• Computational Geometry

Background:

• Dual manipulator cooperative manufacturing systems present complex challenges in collision-free path planning.
• Ensuring safety and efficiency in shared workspaces with asynchronous tasks is critical.

Purpose of the Study:

• To develop an optimized, collision-free path planning strategy for dual manipulator systems.
• To transform the path-planning problem into a solvable mathematical optimization problem.

Main Methods:

• Combines mathematical modeling with time sampling for robot path-planning algorithms.
• Develops non-linear optimization functions based on manipulator motion characteristics.
• Employs spatial geometric analysis to linearize optimization equations for intuitive solving.

Main Results:

• The proposed strategy generates smoother paths with shorter deviations.
• Achieves higher algorithmic efficiency compared to previous methods.
• Demonstrates effective collision-free path planning in simulations.

Conclusions:

• The novel strategy offers significant improvements in path planning for dual manipulator systems.
• The mathematical and geometric approach provides an efficient and intuitive solution.
• This method enhances safety and efficiency in cooperative manufacturing environments.