TIME OPTIMUM TRAJECTORY PLANNING FOR DUAL-ARM ROBOT

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.