Open AccessResearch on Collision Avoidance Path Planning of Double SCARA Robot
Author(s) -
Lifeng Dang,
Zhang Liang-an,
Shi Bo Qin
Publication year - 2021
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/632/3/032051
Subject(s) - scara , collision avoidance , robot , correctness , collision , computer science , robot end effector , path (computing) , simulation , collision detection , object (grammar) , artificial intelligence , algorithm , computer security , programming language
This paper takes double SCARA robot as the research object and uses the computer graphics method to get the collision detection method of two robotic arms at a certain moment. On the basis of collision detection, the C-space method is used to plan the collision avoidance path for the two robots and the two robots considering the end-effector, and the collision avoidance algorithm for the double SCARA robot is obtained. Then, the simulation experiment is carried out to verify the correctness of the algorithm.