Base position planning for dual-arm mobile manipulators performing a sequence of pick-and-place tasks

摘要

In this study, we plan a sequence of the base position for dual-arm mobile manipulators performing multiple pick-and-place tasks. By using our proposed method, the robot can selectively use either the right or the left hand to pick up an object and can minimize the sequence size of the base position needed to performed the given task. We first formulate a quadratic programming (QP) problem to solve the inverse kinematics by considering robot collision. We then formulate a region on the base position where a robot can pick up an object placed anywhere in a box. A sequence of base positions is then obtained by combining the branch and bound (BB) and simulated annealing (SA) methods. We present the numerical calculation results to demonstrate the effectiveness of our proposed method.