Optimizing the feasible object-constrained cooperative task space for enhanced dual-arm manipulation

The cooperative task space of a dual-arm robotic system represents the set of object poses that the two manipulators can achieve together under kinematic and environmental constraints. The authors define the Feasible Object-Constrained Cooperative Task Space (CTS_FOC) as the subset of this space satisfying object-specific constraints such as possible grasps, collision avoidance and geometric limitations of the robotic system.

The suggested framework aims to optimize the volume of the CTS_FOC by repositioning the manipulators within their Cartesian workspace. Various robotic layouts are analyzed to enhance both the CTS_FOC volume and dexterity. A voxel-based occupancy grid is constructed to eliminate the CTS_FOC configurations with obstacles’ collision. The geometric boundaries of the space are defined using Alpha Shapes, while a reachability grid provides a weighted volume measure to account for dexterity.

The spatial positioning of the manipulators significantly affects their feasible cooperative manipulation space. The discussed optimization framework expands the cooperative task space and enhances dexterity in dual-arm robotic systems, ultimately improving their capability to perform coordinated tasks.

This study presents a computational framework for quantifying and optimizing the CTS_FOC of dual-arm robotic systems. The workspace reconfiguration with volumetric task-space analysis and dexterity consideration provides a systematic approach to improve cooperative manipulation while ensuring collision-free operation.