Research on trajectory planning of intelligent cooperative motion of two robotic arms

Yang Meng; Li Zhang; Ying Zhu

doi:10.1117/12.3050133

27 September 2024 Research on trajectory planning of intelligent cooperative motion of two robotic arms

Yang Meng, Li Zhang, Ying Zhu

Proceedings Volume 13284, Third International Conference on Intelligent Mechanical and Human-Computer Interaction Technology (IHCIT 2024); 1328402 (2024) https://doi.org/10.1117/12.3050133
Event: Third International Conference on Intelligent Mechanical and Human-Computer Interaction Technology (IHCIT 2024), 2024, Hangzhou, China

Abstract

With the rapid development of intelligent robots, the application of cooperative robotic arm in dangerous and high-precision situations has become a research hotspot. The trajectory planning of its arm is one of the difficult problems. On the basis of mathematical modeling and demonstration of the cooperative manipulator, in view of the inherent defects and problems of the traditional VPF algorithm, this paper proposes an improved velocity potential field algorithm considering the direction factors and obstacle velocity factors, which can stably avoid dynamic obstacles and ensure the safety of operators and equipment. The paper improves the RRT algorithm to enhance its running speed during the operation of dual robotic arms.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yang Meng, Li Zhang, and Ying Zhu "Research on trajectory planning of intelligent cooperative motion of two robotic arms", Proc. SPIE 13284, Third International Conference on Intelligent Mechanical and Human-Computer Interaction Technology (IHCIT 2024), 1328402 (27 September 2024); https://doi.org/10.1117/12.3050133

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