Multiple manipulators path planning using double A*

Pedro Tavares, José Lima, Pedro Costa, A. Paulo Moreira
2016 Industrial robot  
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more » ... and book series volumes, as well as providing an extensive range of online products and additional customer resources and services. Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. Abstract. Purpose -Streamlining automated processes are currently undertaken by developing optimization methods and algorithms for robotic manipulators. In this paper a new approach to improve streamlining of automatic processes is presented. This new approach allows for multiple robotic manipulators commonly found in the industrial environment to handle different scenarios, thus providing a high flexibility solution to automated processes. Design/ Methodology / Approach -The developed system is based on a spatial discretization methodology capable of describing the surrounding environment of the robot, followed by a novel path planning algorithm. Gazebo was the simulation engine chosen and the robotic manipulator used was the universal robot 5 (UR5). The proposed system was tested using the premises of two robotic challenges: EuRoC and Amazon Picking Challenge. Findings The developed system was able to identify and describe the influence of each joint in the Cartesian space; and it was possible to control multiple robotic manipulators safely regardless of any obstacles in a given scene. Practical implications -This new system was tested in both real and simulated environments and data collected showed that this new system performed well in real life scenarios, such as EuRoC and Amazon Picking Challenge. Originality / Value The new proposed approach can be valuable in the robotics field with applications in various industrial scenarios, as it provides a flexible solution for multiple robotic manipulators path and motion planning.
doi:10.1108/ir-01-2016-0006 fatcat:pdfe2l5aefbsnivlcwgvfqmw5i