Optimized motion planning considering the lifetime for bimanual robotic assembly

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The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

Original languageEnglish
Pages (from-to)972-976
Number of pages5
JournalJournal of Institute of Control, Robotics and Systems
Issue number10
StatePublished - 1 Oct 2015


  • Bimanual robot
  • Kinematics
  • Motion planning
  • Optimization


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