Collision-free motion generation for dual-gantry robotic systems

摘要

This work presents a robust and highly effective approach to collision-free motion planning for dual-gantry robotic systems in pick-and-place applications. Our method employs multi-dimensional B-spline parametrisation for end-effectors paths and a 1D time-parametrised B-spline for feed rate profiles, ensuring smooth and kinematically constrained trajectories. The end-effectors paths are refined using spline-based convex optimisation to minimise the curvature of path deviations required to avoid collisions between end-effectors and loaded parts while remaining within the workspace. Extensive real-world tests and simulation campaigns on a sorting system for laser cutting machines demonstrate the method’s robustness and significant performance improvements over current industrial techniques. • A robust and highly effective workflow for collision-free path planning in dual-gantry robots used in pick-and-place applications. • Solutions to LCQP minimisation based on a non-rational spline ensure low curvature of end-effector paths. • A FLF is used to generate a kinematically constrained motion profile as a time-parametrised non-rational spline. • Extensive real-world tests on a sorting system for a laser machine and simulations demonstrate the robustness and effectiveness of the method.