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Abstract der Präsentation:

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Recent Contributions on Optimal Cooperative Robot Manipulation

Advanced assembly, production, and packaging tasks enhance the need to employ two or more robot manipulators working in the same or highly overlapping physical areas. This often leads to complex manipulation tasks in a dynamic environment with high collision potential. Specially, we address a scenario with two robot arms performing synchronous pick-and-place tasks with moving objects. For an optimal and safe robot operation, we consider a hierarchical architecture with two-layer optimization-based control policies involving task scheduling in the top layer and MPC-based trajectory planning at the bottom one. The MPC- layer can be realized as a centralized architecture common to both robots or as a distributed architecture where each robot is considered separately, as a local system.