Self-Collision Detection and Motion Planning for Dual-Arm Robot

doi:10.16183/j.cnki.jsjtu.2018.01.008

Abstract

Abstract: A method based on geometric distance of space vector is proposed for the self-collision detection in motion planning of dual-arm robots. In terms of this, a linear repulsion force field which is improved from the artificial potential field method is used to describe the position relationship and collision quota among the links. Then a novel self-collision-free motion planning is derived by combining with the linear form of repulsion potential field. Compared with the traditional artificial potential filed planner, the improved linear force field can directly act as an operator to plan the trajectory of the dual-arm robot with properties that are simple and easy to be handled. Finally, a case study demonstrates the effectiveness of the motion planning algorithm with the real parameters of a dual-arm robot.

Key words: dual-arm robot, self-collision, collision detection, motion planning, potential field

CLC Number:

TP 242

WU Changzheng1，YUE Yi1,2，WEI Baochen1，LIU Dianfu3. Self-Collision Detection and Motion Planning for Dual-Arm Robot[J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 45-53.

References

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