Abstract
In this paper, we propose a collision and singularity avoidance path planning of 6-DOF dual-arm manipulator. A manipulator with free DOF has an infinite solution depending on the position of the end effector, and it requires avoidance of singularities. The value of the joint can’t be determined, which means that falling into a singularity trap. So we propose a path planning for end-effectors by applying singularity avoidance using artificial ellipses obtained from Jacobian matrices and applying them with Artificial Potential Fields. The dual - arm manipulator solves this problem by using the manipulability measure and generates a path that avoids the singularity. Because Inverse Kinematics has much value as the D.O.F increases. Next, it merges with APF (Artificial Potential Field) planning is verified through experiments.
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Acknowledgment
This research is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10073147.
This research was financially supported by the Ministry of trade, Industry and Energy (MOTIE), Korea Institute for Advancement of Technology (KIAT) through the Robot Business Belt Development Project (A012000009).
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Kim, DE., Park, DJ., Park, JH., Lee, JM. (2018). Collision and Singularity Avoidance Path Planning of 6-DOF Dual-Arm Manipulator. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_17
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DOI: https://doi.org/10.1007/978-3-319-97589-4_17
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