Research On Obstacle Avoidance Path And Trajectory Planning For Dual-arm Scara Robot

At present,the research of motion planning is very important in the field of robotics.The movement planning of robot is divided into 2 parts,trajectory planning and spatial path planning.The spatial path planning is to find a collision-free path for a specified task.The trajectory planning is to use the relevant control algorithm to meet the requirements of time,speed and acceleration.Collision free path planning is of great significance for dual-arm robot.The main work and research results are as follows:(1)In view of the dual-arm SCARA robot arm movement,this paper introduces the theory of robot kinematics.D-H parameter method is adopted to establish the kinematics model of the manipulator.The correctness of the model is verified by MATLAB.(2)Collision-free path planning algorithm is studied.This paper puts forward the dual-arm collision detection algorithm and introduces the concept of C space.The A * path search algorithm and the ant colony algorithm are expounded.(3)The collision-free planning path for dual-arm SCARA robot is studied.In the C space,A* algorithm and ant colony algorithm are used to plan the path of collision free path.In order to improve the performance of the two-arm path planning,the ant colony algorithm was improved(4)The time optimal trajectory planning is studied.The particle swarm algorithm is introduced to optimize the trajectory.The feasibility of the algorithm is verified by MATLAB.