Abstract
In recent years, dual-arm robots have been favored in various industries due to their excellent coordinated operability. One of the focused areas of study on dual-arm robots is obstacle avoidance, namely path planning. Among the existing path planning methods, the artificial potential field (APF) algorithm is widely applied in obstacle avoidance for its simplicity, practicability, and good real-time performance over other planning methods. However, APF is firstly proposed to solve the obstacle avoidance problem of mobile robot in plane, and thus has some limitations such as being prone to fall into local minimum, not being applicable when dynamic obstacles are encountered. Therefore, an obstacle avoidance strategy for a dual-arm robot based on speed field with improved artificial potential field algorithm is proposed. In our method, the APF algorithm is used to establish the attraction and repulsion functions of the robotic manipulator, and then the concepts of attraction and repulsion speed are introduced. The attraction and repulsion functions are converted into the attraction and repulsion speed functions, which mapped to the joint space. By using the Jacobian matrix and its inverse to establish the differential velocity function of joint motion, as well as comparing it with the set collision distance threshold between two robotic manipulators of robot, the collision avoidance can be solved. Meanwhile, after introducing a new repulsion function and adding virtual constraint points to eliminate existing limitations, APF is also improved. The correctness and effectiveness of the proposed method in the self-collision avoidance problem of a dual-arm robot are validated in MATLAB and Adams simulation environment.
Highlights
In recent years, dual-arm robots have gradually emerged in the manufacturing and service industries and in other fields due to their strong coordination, operability, and high work efficiency [1,2,3]
Inspired by the background described above and using previous research conducted by the authors for the obstacle avoidance case based on artificial potential field (APF), this study presents an extension of the proposed algorithms based on potential field velocity (VP-APF) to solve the collision avoidance problem of a dual-arm robot
Through the simulation experiment of MATLAB and Adams, it can be known that the proposed method can solve the obstacle avoidance problem of the dual-arm robot, and the overall effect is better with a smooth process
Summary
Dual-arm robots have gradually emerged in the manufacturing and service industries and in other fields due to their strong coordination, operability, and high work efficiency [1,2,3]. For the problems that the APF often converges to local minima and hardly reaches the ending and oscillatory movement, the concept of gravity chain based on APF was proposed by Lei et al [20] In their method, effective information of obstacle avoidance was put into the potential field through the gravity chain to generate a steering angle tangent to the rubber band. Inspired by the background described above and using previous research conducted by the authors for the obstacle avoidance case based on APF, this study presents an extension of the proposed algorithms based on potential field velocity (VP-APF) to solve the collision avoidance problem of a dual-arm robot. The correctness and effectiveness of the proposed method in the selfcollision avoidance problem of the dual-arm robot are validated in MATLAB and Adams simulation environment
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