Collision Avoidance Algorithm Of Robot Arms Based Embedded Control Systems Implementation,

Dual-arm robots with bright future applications are more efficient than single manipulator in some complicated or compliance operations. It's one of research interests for dual-arm robots that two manipulators of a robot coordinate its motions in the same operation space with collision-free trajectory planning.The research object in this paper is a dual-arm SCARA robot. Firstly, kinematics and inverse kinematics of the robot is worked by the D-H approach. Secondly, a simplified geometry model of the robot is obtained to make collision detection algorithm by computer graphics method. C-space approach is used for collision-free motion planning. Assuming that one manipulator called master arm of the robot moves as a desired trajectory, C-space of so-called slave arm is discretized to compute collision-free space by mapping motion of the master arm into C-sapce of slave arm with a collision detection algorithm. One of heuristic search algorithms- A* search algorithm is selected to find an appropriate path for the slave arm in its collision-free space.Finally, the collision-free motion planning algorithm has been simulated in MATLAB. The simulation results show that the algorithm is qualified for planning trajectories of the dual-arm robot. The time and storage demands of the algorithm are within the scope of a embedded control system.