A Fast Coordinated Motion Planning Method for Dual-Arm Robot Based on Parallel Constrained DDP

Safe and efficient coordinated motion planning is crucial for the dual-arm robot's manipulation in the constrained environment. This article studies a fast optimization-based coordinated motion planning method for dual-arm robots based on a parallel differential dynamic programming (DDP) solver...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics Jg. 29; H. 3; S. 2350 - 2361
Hauptverfasser:	Wang, Yunlai, Li, Hui, Zhao, Yan, Chen, Xuechao, Huang, Xiao, Jiang, Zhihong
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.06.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Closed kinematics constraints Collision avoidance constrained differential dynamic programming (DDP) Constraints dual-arm robot Dynamic programming Environment models Kinematics Motion planning multiple shooting (MS) Optimization parallel DDP Planning Robot arms Robot dynamics Robot kinematics Robots Safety Solvers Strategy Task analysis Trajectory
ISSN:	1083-4435, 1941-014X
Online-Zugang:	Volltext
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