Research on Decoupling Motion Path Planning of Two Manipulators of Live Working Robot Based on Hybrid RRT Algorithm

摘要

Double manipulator path planning is the basis for overhead line live working robot to complete the task. The previous dual manipulator motion path planning method has some problems, such as low success rate, low convergence speed, unstable guidance, and easy to lead to path discontinuity in complex environment. Therefore, this paper proposes a decoupling motion planning method for two manipulators of live working robot based on hybrid RRT (Rapidly-Exploring Random Trees) algorithm. The hybrid RRT algorithm combines target offset RRT algorithm, bidirectional RRT algorithm and dynamic expansion RRT algorithm. MATLAB robot toolbox is used to simulate the motion path planning of 6-DOF double manipulator of overhead line live working robot. The results show that the method proposed in this paper can realize the loose coupling and efficient collision free motion planning of double manipulator of live working robot.