Trajectory planning system for bimanual robots: Achieving efficient collision-free manipulation
Pick-and-place operations are non-value-added activities but essential in many industrial processes. Some of these operations must be performed by dual-arm robots, which represent new challenges in terms of collision-avoidance due to the use of a shared workspace. This work addresses these two issue...
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| Published in: | Robotics and autonomous systems Vol. 194; p. 105118 |
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| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
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01.12.2025
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| ISSN: | 0921-8890 |
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| Abstract | Pick-and-place operations are non-value-added activities but essential in many industrial processes. Some of these operations must be performed by dual-arm robots, which represent new challenges in terms of collision-avoidance due to the use of a shared workspace. This work addresses these two issues by proposing a Task and Motion Architecture (TMA) designed to optimize pick-and-place tasks, ensuring efficient and safe operation through collision-free movements. This architecture consists of two interconnected sublayers, the Task Planner (TP) and the Global Motion Planner (GMP). The TP calculates the optimal sequence of operations, minimizing the total execution time and guaranteeing a collision-free sequence. The GMP plans the trajectories of the robotic arms using predefined motion strategies and following the calculated optimal sequence. This work presents a novel solution for enhancing the efficiency of robot coordination in real-world settings by integrating an intercommunicated TP and MP. Results from simulations demonstrate improved task efficiency, reduced operational times, and successful collision avoidance between robots.
•Proposal of a novel two-layered Global Controller for dual-arm robots.•Optimization of task sequencing with collision-free trajectories.•Implementation of hybrid and parallel motion strategies for robot coordination.•Demonstrated 40% improvement in efficiency for bimanual pick-and-place tasks. |
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| AbstractList | Pick-and-place operations are non-value-added activities but essential in many industrial processes. Some of these operations must be performed by dual-arm robots, which represent new challenges in terms of collision-avoidance due to the use of a shared workspace. This work addresses these two issues by proposing a Task and Motion Architecture (TMA) designed to optimize pick-and-place tasks, ensuring efficient and safe operation through collision-free movements. This architecture consists of two interconnected sublayers, the Task Planner (TP) and the Global Motion Planner (GMP). The TP calculates the optimal sequence of operations, minimizing the total execution time and guaranteeing a collision-free sequence. The GMP plans the trajectories of the robotic arms using predefined motion strategies and following the calculated optimal sequence. This work presents a novel solution for enhancing the efficiency of robot coordination in real-world settings by integrating an intercommunicated TP and MP. Results from simulations demonstrate improved task efficiency, reduced operational times, and successful collision avoidance between robots.
•Proposal of a novel two-layered Global Controller for dual-arm robots.•Optimization of task sequencing with collision-free trajectories.•Implementation of hybrid and parallel motion strategies for robot coordination.•Demonstrated 40% improvement in efficiency for bimanual pick-and-place tasks. |
| ArticleNumber | 105118 |
| Author | Méndez, Jorge Borrell Mronga, Dennis Perez-Vidal, Carlos Martínez-Peral, Francisco José Segura-Heras, José Vicente |
| Author_xml | – sequence: 1 givenname: Francisco José orcidid: 0009-0005-0532-659X surname: Martínez-Peral fullname: Martínez-Peral, Francisco José organization: Engineering Research Institute of Elche (I3E), Miguel Hernandez University of Elche, Avda. Universidad, s/n, Elche, 03202, Alicante, Spain – sequence: 2 givenname: Jorge Borrell surname: Méndez fullname: Méndez, Jorge Borrell organization: Engineering Research Institute of Elche (I3E), Miguel Hernandez University of Elche, Avda. Universidad, s/n, Elche, 03202, Alicante, Spain – sequence: 3 givenname: Dennis orcidid: 0000-0002-8457-1278 surname: Mronga fullname: Mronga, Dennis organization: Robotics Innovation Centre, German Research Centre for Artificial Intelligence (DFKI), Robert-Hooke Str. 1, Bremen, 28359, Germany – sequence: 4 givenname: José Vicente orcidid: 0000-0002-0884-0472 surname: Segura-Heras fullname: Segura-Heras, José Vicente organization: Operations Research Center (CIO), Miguel Hernandez University of Elche, Avda. Ferrocarril s/n, Elche, 03202, Alicante, Spain – sequence: 5 givenname: Carlos orcidid: 0000-0003-0943-8693 surname: Perez-Vidal fullname: Perez-Vidal, Carlos email: carlos.perez@umh.es organization: Engineering Research Institute of Elche (I3E), Miguel Hernandez University of Elche, Avda. Universidad, s/n, Elche, 03202, Alicante, Spain |
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| Keywords | Pick-and-place Operations Dual-arm Collision Avoidance Robotic Sequence Order Optimization Binary Integer Linear Programming ROS |
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| Title | Trajectory planning system for bimanual robots: Achieving efficient collision-free manipulation |
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