Coordinated motion of two robot arms

Abstract

We study the problem of planning simultaneous motion for two robot arms that are modeled on the Stanford arm. The arms have two degrees of freedom and must move in a workspace, avoiding obstacles and each other. We develop an O(n <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> logn) algorithm for planning motion of two arms with tips together, and an O(n <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> ) algorithm for independent but synchronized motion. Here n is the total number of walls of the obstacles.