Dual Arm Coordination with Coordination Diagram based on Teleoperation Demonstration

Abstract

Efficient and collision-free coordination of two robot arms is increasingly needed in various service-oriented robotic applications. This paper proposes a dual-arm coordination algorithm to improve the efficiency of coordination by considering both robot's actions and operating sequences for tasks that require multiple operations with both arms. Teleoperation demonstration is performed to obtain the robot's human-like motion trajectories, so as to reduce the probability of collisions of the two robotic arms. The coordination diagram in time domain is designed to more clearly represent the situations of trajectory collisions and find the collision-free coordination action law. Simultaneously, a coordination pair generator (CPG) is designed to reorganize the operating sequences according to the characteristics of input trajectories in addition to the action coordination. The effectiveness and efficiency of our method are verified on the experiment of the drug sorting task in nursing homes on the ABB YuMi robot model.