Synchronous Motion Planning of Dual-Arm Robot System with Joint Constraint

摘要

Dual-arm robots have various applications in the field of engineering, and synchronous motion planning (SMP) is an important issue in dual-arm robot systems. In particular, joint-constrained SMP (JCSMP) is relevant to practical needs, and several effective methods have been proposed. In this paper, a new JCSMP scheme with guaranteed precision is proposed and studied for dual-arm robot systems with joint constraints. Such a scheme, which is derived from the discretization of the continuous-time scheme via a special difference formula, can achieve excellent performance on dual-arm robot systems. Simulation results on the robot system with two URS robot arms further prove the effectiveness and superiority of the proposed JCSMP scheme.