SUMMARYThe issue of the operation method for dual-arm rescue construction machinery is investigated in this paper. To increase its operational efficiency and to save more time at rescue sites, some operating strategies of the human arm are employed to design a novel operation method for construction machinery. On the basis of that, a novel and anthropomorphic task-motion planning and performing framework for rescue construction machinery is established. Firstly, the main tasks construction machinery encounter are summarized, and then, these tasks are decomposed to several manipulation and movement sequences. Finally, several frequently used movements, which consist of some basic movement elements, are designed to be intuitive movement primitives coordinating related movement elements simultaneously to improve the operational efficiency, which forms a novel operation method for rescue construction machinery. Additionally, in order to avoid the potential collision between the dual arms, a self-collision avoidance surveillance method is proposed to guarantee the safety of the novel operation method. An application case is presented to introduce the proposed method specifically, and a typical simulation of a dual-arm grip-and-cut task is carried out to verify the feasibility and effectiveness of the framework.
Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots
