Real-Time Collision Avoidance of a Redundant Dual-Arm Robot Based on Distance Function Method

摘要

This paper presents a new method for collision avoidance of a redundant dual arm robot for coordination of the two arms in handling an object by using the method of distance function. The method is relies on the selection of the proper feature point for specific tasks by establishing an optimization anti collision distance index (which related to the robot joint variables) through the shortest distance between the obstacle, the robot connecting rod and it's gradient. Furthermore a weight function is introduced to adjust the motion range of the redundant arm obstacle avoidance and reducing the damage of the joint angle. In this method the work ability of the redundant dual-arm robot is improved, the coordinating of each arm during handling the object and the operation stability is guaranteed, the collision avoidance efficiency of the robot is enhanced, and improved distance function is built. By establishing a kinematic model of a redundant dual-arm robot, the reliability effectiveness and the feasibility of the method is verified by using simulation.