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Global motion planning and redundancy resolution for large objects manipulation by dual redundant robots with closed kinematics

Published online by Cambridge University Press:  09 August 2021

Yongxiang Wu Open the ORCID record for Yongxiang Wu [Opens in a new window] ,
Yili Fu  and
Shuguo Wang
Yongxiang Wu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Yili Fu*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
Shuguo Wang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
*
*Corresponding author. Email: meylfu_hit@126.com
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Abstract

The multi-arm robotic systems consisting of redundant robots are able to conduct more complex and coordinated tasks, such as manipulating large or heavy objects. The challenges of the motion planning and control for such systems mainly arise from the closed-chain constraint and redundancy resolution problem. The closed-chain constraint reduces the configuration space to lower-dimensional subsets, making it difficult for sampling feasible configurations and planning path connecting them. A global motion planner is proposed in this paper for the closed-chain systems, and motions in different disconnected manifolds are efficiently bridged by two type regrasping moves. The regrasping moves are automatically chosen by the planner based on cost-saving principle, which greatly improve the success rate and efficiency. Furthermore, to obtain the optional inverse kinematic solutions satisfying joint physical limits (e.g., joint position, velocity, acceleration limits) in the planning, the redundancy resolution problem for dual redundant robots is converted into a unified quadratic programming problem based on the combination of two diff erent-level optimizing criteria, i.e. the minimization velocity norm (MVN) and infinity norm torque-minimization (INTM). The Dual-MVN-INTM scheme guarantees smooth velocity, acceleration profiles, and zero final velocity at the end of motion. Finally, the planning results of three complex closed-chain manipulation task using two Franka Emika Panda robots and two Kinova Jaco2 robots in both simulation and experiment demonstrate the effectiveness and efficiency of the proposed method.

Keywords

closed kinematic chaindual arm coordinated manipulationmotion planningredundancy resolutionquadratic programming
Type
Research Article
Information
Robotica , Volume 40 , Issue 4 , April 2022 , pp. 1125 - 1150
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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