Collision Avoidance Path Planning of Nuclear Robot with Dual Manipulators

Abstract

Aiming at the requirement of collision-free and precise synchronized kinematics autonomous coordinated control of the dual-manipulator heavy-duty robot in carrying, grasping and dismantling operations, this paper studied the method of collision avoidance path planning in the dual-manipulator operation. The dual mechanical arm is an important part of the system, and its working state is directly related to the stability and reliability of the entire system. In this paper, we used the improved DH method to mathematically model the position and posture of the dual robotic arms. Under the robot operating system, we adopted Moveit! to control the movement towards the robotic arms. Finally, under obstacles at different distances, we simulated the improved fusion algorithm and compared it with the existing artificial potential field method and RRT* algorithm. The experimental results show that the improved fusion algorithm has better path planning effect and can make the robot arm reach the goal smoothly along the path of the least cost without collision.