Abstract
This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot’s actuator so we regard this as a low quality path. To improve the quality of path, we propose the B-spline trajectory planning algorithm that transforms the path into the collision-free and smooth trajectory. And as a specific example of application, we applied our proposed algorithm on cell-phone assembly task using the dual-arm robot. The simulation results show that the smooth and collision-free trajectories for the task can be generated with our motion planning simulator.
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Choi, Y., Kim, D., Hwang, S. et al. Dual-arm robot motion planning for collision avoidance using B-spline curve. Int. J. Precis. Eng. Manuf. 18, 835–843 (2017). https://doi.org/10.1007/s12541-017-0099-z
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DOI: https://doi.org/10.1007/s12541-017-0099-z