Precise and safe control of dual manipulator systems
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Abstract
Robots have been used to automate repeatable tasks in industries for decades. With the rise of computing power, robots can now be used in a wider range tasks involving finer motion control, even ones which involve sharing a workspace with humans. An example of this is using a dual arm robot for quality control, as was demonstrated by BMW with their RoboCT quality control system. However, such systems require guarantees of safety to demonstrate reliable operation.
This thesis will delve into the question of how to compute and execute a motion plan for a dual robot system which has a guarantee of synchronized and collision-free motion. This thesis proposes using a hierarchical control approach to ensure task execution while satisfying collision avoidance and alignment constraints. The proposed approach is verified through a case study of using two manipulators to pick and place a ball.