Research on trajectory planning of dual-arm cooperative robot

Abstract

To meet the requirements of the market for complex and diverse operation tasks, the reasonable trajectory planning of the manipulator plays an important role in the completion of the task, which affects the motion accuracy and operation efficiency of the manipulator, the trajectory planning of the manipulator needs to meet the smooth change of motion parameters and no sudden change to ensure the smooth operation of the system. In this paper, the method of middle point interpolation is used to calculate and analyze the linear interpolation trajectory planning and arc interpolation trajectory planning of 7-DOF(degrees of freedom) redundant manipulator, and to realize the accurate trajectory planning of the end position of the dual-arm cooperative robot.