Abstract
During the movement process of two 6-dof manipulators, there may be collisions between manipulator and space obstacles or itself. To solve this problem, this paper use A* algorithm to finish the cooperative obstacle-avoidance path planning. Firstly, the model of obstacles is established. A* algorithm is used to plan a feasible path in the static obstacles environment for the main manipulator. Then, the virtual obstacles is set on the feasible path of the main manipulator. A* algorithm is applied to plan a feasible path for the second manipulator. In order to prevent the interference between the manipulators, ensure the smoothness of the manipulators in motion, and the time-energy optimum. By establishing the optimization model of inverse solutions, we realize the two-manipulator smooth motion without interference. Finally, the effectiveness of the algorithm is verified by simulation experiments.
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This Research was supported by National Natural Science Foundation of China (No. 51565058).
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Zhao, J., Chao, Y., Yuan, Y. (2019). A Cooperative Obstacle-Avoidance Approach for Two-Manipulator Based on A* Algorithm. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_2
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DOI: https://doi.org/10.1007/978-3-030-27529-7_2
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