Obstacle Avoidance Path Planning for the Dual-Arm Robot Based on an Improved RRT Algorithm

In the future of automated production processes, manipulator must be more efficient to complete certain tasks. Compared single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning multi-arm is problem that solved in process robot development. This paper proposes an obstacle avoidance path method for based on goal probability bias cost function rapidly-exploring random tree algorithm (GA_RRT). The grows point with probability. At same time, calculated when state generated. lowest selected as child node. reduces randomness blindness RRT expansion process. detection bounding sphere used collision two arms. main arm conducts static obstacles. slave not only considers obstacles, but also takes role at each moment dynamic planning. Finally, MATLAB simulation, which proves effectiveness problems robot.