Skip to main content
SpringerLink
Log in

Planning movement for two PUMA manipulators holding the same object

  • Section 5: Motion Planning
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

Two PUMA manipulators holding an object form a six degree of freedom closed kinematic chain. This situation occurs when heavy or long objects are to be manipulated by the robots. The constraint that the object not be dropped imposes limits on the configuration variables, which are treated as obstacles. A general program has been developed and implemented for planning paths for any multi-dimensional closed chain robot system. It is used to find a feasible path avoiding obstacles including that due to the closure of the chain. This program is used to plan a pick and place movement for two PUMA manipulators. The degrees of freedom are chosen so that both the robots can be controlled independently instead of using master-slave strategy.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. J.E. Bobrow, “A Direct Minimization Approach for Obtaining the Distance Between Convex Polyhedra,” International Journal of Robotics Research, Vol 8, No 3, June 1989.

    Google Scholar 

  2. J.E. Bobrow and R.M.C. Bodduluri, “A General Robot Path Planning Algorithm,” Proceedings of the 27th IEEE Conference on Decision and Control, Austin, Texas, Vol. 3, pp 2292–2293, December 7–9, 1988a.

    Google Scholar 

  3. J.E. Bobrow, “Optimal Robot Path Planning Using The Minimum-Time Criterion,” IEEE Journal of Robotics and Automation, Vol. 4, No. 4, pp 443–450, August 1988b.

    Google Scholar 

  4. R.A. Brooks, “Planning Collision-Free Motions for Pick-and-Place Operations,” International Journal of Robotics Research Vol. 2, No 4, pp 19–44, 1983

    Google Scholar 

  5. J. Canny, “Collision Detection for Moving Polyhedra,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-8, No 2, pp 200–209, 1986.

    Google Scholar 

  6. A.A. Cole, Hsu, and Sastry, “Dynamic Regrasping by Coordinated Control of Sliding for a Multifingered Hand,” Proceedings of IEEE Robotics and Automation, Vol. 2, pp 781–786, 1989.

    Google Scholar 

  7. J.J. Craig, Introduction to Robotics: Mechanics & Control, Addison-Wesley, Reading, MA, 1986.

    Google Scholar 

  8. E.G. Gilbert and D.W. Johnson, “Distance Functions and Their Application to Robot Path Planning in the Presence of Obstacles,” IEEE Journal of Robotics and Automation, Vol RA-1, March 1985, pp 21–30.

    Google Scholar 

  9. E.G. Gilbert, D.W. Johnson, and S.S. Keerthi, “A Fast Procedure for Computing the Distance between Complex Objects in Three-Dimensional Space,” IEEE Journal of Robotics and Automation, Vol. 4, No. 2, pp.193–203, April 1988.

    Google Scholar 

  10. L. Gouzenes, “Strategies for Solving Collision-Free Trajectory Problems for Mobile and Manipulator Robots,” International Journal of Robotics Research, Vol. 3, No. 4, Winter 1984.

    Google Scholar 

  11. Y. Hu and A.A. Goldenberg, “An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robot Arms,” Proceedings of the IEEE Robotics and Automation Conference, Vol. 2, pp 1091–1096, 1989.

    Google Scholar 

  12. J. Kerr and B. Roth, “Analysis of Multifingered Hands,” International Journal of Robotics Research, Vol. 4, No. 4, pp.3–17, 1986.

    Google Scholar 

  13. T. Lozano-Perez and M. Wesley, “An Algorithm for Planning Collision-Free Paths Among Polyhedral Obstacles,” Communications of the Association for Computer Machinery, Vol 2, No 10, 1979, pp 560–570.

    Google Scholar 

  14. T. Lozano-Perez, “Spatial Planning: A Configuration Space Approach,” IEEE Transactions on Computers, C-32(2), pp 108–120, 1983.

    Google Scholar 

  15. T. Lozano-Perez, “A Simple Motion-Planning Algorithm for General Robot Manipulators,” IEEE Journal of Robotics and Automation, Vol RA-3, No 3, June 1987, pp 224–238.

    Google Scholar 

  16. J.Y.S. Luh and Y.F. Zheng, “Constrained Relations between Two Coordinated Industrial Robots for Motion Control,” International Journal of Robotics Research, Vol. 6, No. 3, pp 60–70

    Google Scholar 

  17. J.M. McCarthy, Q. Ge, and R.M.C. Bodduluri, “The Analysis of Cooperating Planar Robot Arms in the Image Space of the Workpiece,” University of California, Irvine, Department of Mechanical Engineering Technical Memo ME-TR-1, December 1987.

    Google Scholar 

  18. P.A. O'Donnell and T. Lozano-Perez, “Deadlock-Free and Collision-Free Coordination of Two Robot Manipulators,” Proceedings of IEEE Robotics and Automation, Vol. 1, pp 484–489, 1989.

    Google Scholar 

  19. R.D. Palmquist and J. Duffy, “Reachable Workspace of Two Planar 3R Cooperating Manipulators,” Proceedings of the ASME Computers in Engineering Conference, Boston, MA, 1987.

    Google Scholar 

  20. R.D. Palmquist and J. Duffy, “Dexterity of Two Planar 3R Cooperating Manipulators,” Proceedings of the ASME Computers in Engineering Conference, Boston, MA, 1987.

    Google Scholar 

  21. S.A. Schneider and R.H. Cannon, Jr., “Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results,”, Proceedings of the IEEE Robotics and Automation Conference, Vol. 2, pp 1076–1083, 1989.

    Google Scholar 

  22. M. Sharir and E. Ariel-sheffi, “On the Piano Movers Problem IV. Various Decomposable Two-Dimensional Motion Planning Problems,” Communications on Pure and Applied Mathematics, Vol 37, pp 479–493, 1984.

    Google Scholar 

  23. J.T. Schwartz and M. Sharir, “On the Piano Movers Problem I. The Case of a Two-Dimensional Rigid Polygonal Body Moving Amidst Polygonal Barriers,” Communications on Pure and Applied Mathematics, Vol 36, No. 3, pp 345–398, 1983.

    Google Scholar 

  24. S. Singh, M. Wagh, “Robot Path Planning Using Intersecting Convex Shapes: Analysis and Simulation,” IEEE Journal on Robotics and Automation Vol RA-3, No.2, pp 101–108, 1987.

    Google Scholar 

  25. J.M. Tao and J.Y.S. Luh, “Coordination of Two Redundant Robots,” Proceedings of IEEE Robotics and Automation Conference, Vol. 2, pp 425–430, 1989.

    Google Scholar 

  26. T.J. Tarn, A.K. Bejczy, and X. Yun, “Design of Dynamic Control of Two Cooperating Robot Arms: Closed Chain Formulation,” Proceedings of IEEE Robotics and Automation Conference, Raleigh, NC, pp 7–13, 1987.

    Google Scholar 

  27. M. Uchiyama, N. Iwasawa, and Hakomori, “Hybrid Position/Force Control for Coordination of a Two-arm Robot,” Proceedings of IEEE Robotics and Automation Conference, Raleigh, NC, pp 1242–1247, 1987.

    Google Scholar 

  28. M.W. Walker, D. Kim, and J. Dionise, “Adaptive Coordinated Motion Control of Two Manipulator Arms,” Proceedings of the IEEE Robotics and Automation Conference, Vol. 2, pp 1084–1090.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of California, Irvine

    R. M. C. Bodduluri, J. M. McCarthy & J. E. Bobrow

Authors
  1. R. M. C. Bodduluri
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. J. M. McCarthy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. J. E. Bobrow
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Vincent Hayward Oussama Khatib

Rights and permissions

Reprints and permissions

Copyright information

© 1990 Springer-Verlag

About this paper

Cite this paper

Bodduluri, R.M.C., McCarthy, J.M., Bobrow, J.E. (1990). Planning movement for two PUMA manipulators holding the same object. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042543

Download citation

  • DOI: https://doi.org/10.1007/BFb0042543

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation