Handoff location selecting and path planning for dual-arm robot

被引：0

作者：

Cong M. ^{[1
]}

Zhao S. ^{[1
]}

Liu D. ^{[1
]}

Du Y. ^{[2
]}

机构：

[1] School of Mechanical Engineering, Dalian University of Technology, Dalian

[2] Dalian Dahuazhongtian Technology Co. Ltd., Dalian

来源：

Liu, Dong (liud@dlut.edu.cn) | 1600年 / Huazhong University of Science and Technology卷 / 48期

关键词：

Dual-arm robot; Handoff location; Improved genetic algorithm; Path planning; Random sampling algorithm;

D O I：

10.13245/j.hust.200901

中图分类号：

学科分类号：

摘要：

In order to improve the object transfer efficiency of the dual-arm robot, an optimization method of the handoff location selecting and path planning was proposed.By analyzing the handoff process, the optimization model of handoff location was established for the dual-arm robot.Thus the handoff location selecting problem was transformed into a nonlinear constraint optimization problem.Using the improved genetic algorithm, the time optimization based handoff location was selected.Then the rapidly-exploring random trees connect (RRT-Connect) algorithm was used to plan path for the dual-arm robot in the handoff process.To solve the non-repeatable problem of the random sampling algorithm, the saved historical planning information was used to find the shortest-consuming path.Simulations and experiments results show that the proposed method can find the optimal handoff location for the process, and plans an approximate time-consuming shortest path for both arms and improve the handoff efficiency. © 2020, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

引用

页码：1 / 6and11

页数：610

共 13 条

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