Collision Free Motion Planning of Dual-Arm Robot Based on C -Space

This paper was focused on the collision free motion planning of dual arm robot. The method of configuration space was successfully applied to the motion planning of dual arm robots, and a new concept of slave arm collision state database (CSDB) was presented. The dual arm robot collision free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found. It was proved in the dual arm articulated robot. The results ascertain that the algorithm is feasible and effective.