Abstract:This paper makes a profound research on time optimum trajectory planning of dual arm robot. The problem of time optimum trajectory planning of dual-arm robot along a specified path is solved by using dynamic programming. With this algorithm, the two manipulators of the dual-arm robot is guaranteed to move in an optimal manner and not to collide with each other. The algorithm has been proved to be feasible and effective by simulations.
1 Tescon Co Ltd. New Dual Arm Robotic Capability. Industrial Robot, 1996,23(3): 35~43 2 Loano-perez T. Spatial Planning: A Configuration Space Approach , IEEE Transaction on Computers , 1983,C-32(2): 108~120 3 钱东海, 赵锡芳. 双臂机器人无碰撞运动规划研究. 机械工程学报,已录用 4 Bogrow J E, Dubowsky S, Gibson J S. Time Optimal Control of Robotic Manipulator Along Specified Paths. Ins J Robotics Research, 1985,(3): 3~17 5 Shin K G, Mckay N D. Minimum-Time Control of Robotic Manipulators with Geometric Path Constraints. IEEE Transactions on Automatic Control, 1985, AC-30(6): 531~541 6 袁奇荪. 计算几何造型学基础. 航空工业出版社,1987