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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Vydané v:	Robotics and autonomous systems Ročník 194; s. 105118
Hlavní autori:	Martínez-Peral, Francisco José, Méndez, Jorge Borrell, Mronga, Dennis, Segura-Heras, José Vicente, Perez-Vidal, Carlos
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Elsevier B.V 01.12.2025
Predmet:	Binary Integer Linear Programming Dual-arm Collision Avoidance Pick-and-place Operations Robotic Sequence Order Optimization ROS Pick-and-place Operations Dual-arm Collision Avoidance Robotic Sequence Order Optimization Binary Integer Linear Programming ROS
ISSN:	0921-8890
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Popis
Shrnutí:	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.
ISSN:	0921-8890
DOI:	10.1016/j.robot.2025.105118