Task-oriented motion planning for multi-arm robotic systems

  • Authors:

  • F. Basile;F. Caccavale;P. Chiacchio;J. Coppola;C. Curatella

  • Affiliations:

  • Dipartimento di Ingegneria dell'Informazione e Ingegneria Elettrica, Universití degli Studi di Salerno, Via Ponte Don Melillo, 84084 Fisciano (SA), Italy;Dipartimento di Ingegneria e Fisica dell'Ambiente, Universití degli Studi della Basilicata, Via dell'Ateneo Lucano 10, 85100 Potenza, Italy;Dipartimento di Ingegneria dell'Informazione e Ingegneria Elettrica, Universití degli Studi di Salerno, Via Ponte Don Melillo, 84084 Fisciano (SA), Italy;Dipartimento di Ingegneria dell'Informazione e Ingegneria Elettrica, Universití degli Studi di Salerno, Via Ponte Don Melillo, 84084 Fisciano (SA), Italy;BU Robotics Business Line, COMAU S.p.A., Via Rivalta 30, 10095 Grugliasco (TO), Italy

  • Venue:
  • Robotics and Computer-Integrated Manufacturing
  • Year:
  • 2012

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Abstract

In this paper a task-oriented motion planning approach for general cooperative multi-robot systems is proposed. In order to derive a meaningful task formulation, a taxonomy of cooperative multi-arm systems of industrial interest is devised. Then, a workpiece-oriented general formulation for cooperative tasks is proposed, where the user is asked to specify the motion of the system only at the workpiece level, while the motion of the single arms in the system is computed via kinematic transformations between the relevant coordinate frames. Based on this task formulation, an instructions set is derived to extend classical programming languages for industrial robots to general multi-robot systems. In order to test the approach, a software environment has been built, composed of an interpreter of the language and the motion planning software.