This paper describes an on-line planner for two cooperating arms whose task is to grab parts on a conveyor belt and transfer them to their respective goals, while avoiding collision with obstacles.
Parts arrive on the belt in random order, at any time.
This scenario is typical of manufacturing cells serving machine-tools, assembling products, or packaging objects. A number of challenging algorithmic problems arise in the efficient design, simulation, and implementation of such assembly lines. On-line manipulation planning for two robot arms in a dynamic environment.