Collision-free coordination of two dual-arm robots with assembly precedence constraint

This paper describes a coordination of two dual-arm robots when assembly precedence constraints exists. Coordination is also called by the decoupled method that assumes each path for a robot is given. This method is efficient when the number of robot DOF is high which dramatically increases the path planning time. We tested the proposed method through a simulation with two dual-arm robot of 16 DOF. The simulation results verify that the proposed method satisfies given constraint on assembly precedence.