Affiliations: School of Mechanical and Electrical Engineering, Xichang University, Xichang, Sichuan 615000, China | E-mail: a18009047612@163.com
Correspondence:
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Corresponding author: School of Mechanical and Electrical Engineering, Xichang University, Xichang, Sichuan 615000, China. E-mail: a18009047612@163.com.
Abstract: In order to solve the cooperation problem between the two arms of the dual arm robot, improve the effect and accuracy of the path planning of the intelligent robot, in this study, a new path planning algorithm for dual arm space (DAS) intelligent robot is designed. By analyzing the kinematics performance of DAS intelligent robot, the operation law of DAS intelligent robot is determined. By analyzing the collision that needs to be considered during the operation of DAS intelligent manipulator, a collision detection method based on capsule envelope is proposed to detect the collision of obstacles in the running path. Finally, the path planning model of DAS intelligent robot is designed by using immune genetic algorithm. The experimental results show that the path planned by this method can avoid obstacles and dangerous areas, and the accuracy of path planning for the existing environment is always higher than 90%. With the increase of iteration times, the planning time is relatively stable, about 5.5 seconds. The proposed method can enhance the effect and accuracy of path planning, effectively shorten the time of path planning, and improve the work efficiency of DAS intelligent robot.
Keywords: Dual arm space intelligent robot, path planning, operation law, immune genetic algorithm
