Research on Dual Robotic Arm Path Planning Based on Steering Wheel Sewing Device

Abstract

To address the problem that the artificial potential field method (APF) is easy to fall into local minima in the path planning of dual robotic arms, a path planning method combining the improved APF and the advanced Rapidly expanding random trees (RRT) algorithm is proposed. method. First, the sewing machine device is used as the research object to model the robotic arm as well as analyze its positive kinematics; second, the workspace of the double robotic arm is analyzed, the enclosing box model is used to simplify the robotic arm as well as the obstacles, and the collision detection of the linkage of the double robotic arm is performed; then, the improved APF is used to plan the path of the main robotic arm and the dynamic obstacles of the sub-robotic arm are used to plan the path of the slave The improved APF algorithm is then used to plan the path of the main robot arm, and it is used as the dynamic obstacle of the sub-robot arm to plan the path of the sub-robot arm, and the advanced RRT algorithm is used to escape from the point when the sub-robot arm enters the local minimal point, and after that, the improved APF algorithm is continued to plan the remaining path; finally, the improved algorithm is simulated in MATLAB, and the simulation results show that the improved algorithm can complete the path planning of the double robot arm more quickly and stably compared with the traditional algorithm.