Coordinated workspace analysis and trajectory planning of redundant dual-arm robot

Aimed at the coordinated workspace and motion trajectory of the redundant dual-arm robot, the corresponding methods of workspace analysis and trajectory planning are proposed in this paper. Firstly, forward kinematics model of redundant dual-arm robot was established by D-H parameter method, and its inverse kinematics analytic solutions were given according to the decoupling configuration of robot. Thereafter, Monte Carlo method was proposed in analyzing the coordinated workspace, and non-uniform rational B-spline (NURBS) curves were used for the trajectory fitting. At last, the rationality of the redundant dual-arm robot structure design, and the feasibility of NURBS curve method for the trajectory fitting were verified by a visual simulation in the environment of MATLAB Robotics Toolbox.

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