Abstract
This paper proposes a multi-arm-motion-generation method. Arm robots are expected to substitute workers, especially since multi-arm flexibly is adaptable to diverse product models. However, due to the complexity of the multi-arm motion, many hours of manual motion teaching are required. Therefore, we developed a multi-arm motion-generating method for automatically generating collision-free multi-arm motions with an equal or faster time than manually teaching motion. Our proposed method is a collision-circumvent and stop-avoidance method that takes into account each robot movement vector in time slices. Experiments were conducted to evaluate the proposed method, and the results indicate that the method can generate a short circumvent avoidance trajectory compared with a conventional collision-avoidance method for avoiding all passing areas of robots.
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