Collision-free and Singularity-free Path Planning in Dual-Arm Scenarios

Project Description

In dual-arm manipulation tasks, the paths that the two robots have to follow to manipulate the shared object are usually prescribed. However, given the close proximity of the two robots during motion and the eventual object bulky dimensions, attention must be paid to properly plan the desired path, in order to avoid robot singularities and collisions. This project aims to develop an offline planner for collision and singularity-free paths in dual-arm scenarios.

Prerequisites

• Sound knowledge of basic mathematics
• Basic knowledge of Matlab and Creo
• Strong initiative and attitude problem solving
• Strong will to cope with demanding challenges
• Keen on studying complex new theory

Not required but good to have

• Foundation of mechanics of robots
• Foundation of optimization algorithms

Target Objectives

• Study of existing path-planning algorithms
• Acquire competence in robotic manipulation problems
• Acquire knowledge in the damping vibration of multi-degrees of freedom dynamic systems
• Strengthen the knowledge of Matlab and the capability of using Creo to simulate the robotic scenario

Expected Results

• Analysis of the literature regarding robotic path-planning algorithms
• Development of a method to plan collision and singularity-free dual-arm paths
• Verify the effectiveness of the proposed technique through experimental tests

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