Planning manipulation movements of a dual-arm system considering obstacle removing
The paper proposes a motion planner that we call PRM with obstacles (PRMwO). The PRMwO searches for robot paths and simultaneously determines, if necessary, the obstacles to be removed. The approach uses a precedence graph to look for a proper sequence of actions and for the distribution of tasks among the robot arms. The approach has been implemented for a real dual arm system but it is valid for more than two arms.
manipulation dual-arm motion planning task planning grasping