Cooperative motion planning method for two anthropomorphic manipulators

Abstract

The development of methods for planning joint movements of two anthropomorphic manipulators in a common operational space becomes relevant. This is due to the development of anthropomorphic robots. Existing methods have relatively large computational complexity. They cannot be used on platforms with limited computing resources. This article proposes an approximate analytical method for planning of joint movements of two anthropomorphic manipulators for point-to-point movements. The analytical method is based on the geometric interpretation of the kinematic redundancy of anthropomorphic manipulators. The method includes three stages. At the first stage, the movement of the wrists of the manipulators is planned, at the second stage elbow joints is planned, and at the third stage end effectors is planned. In the event of a possible collision of manipulators, correction of their path is carried out by "pushing". Its computational complexity is about thousand operations. Simulation of the proposed method showed its efficiency. This method has prospects for implementation in existing manipulator control systems