The algorithm of multiple obstacle avoidance tasks for dual-arm robots

To achieve multiple obstacle avoidance tasks consisting of zero-space and terminal with self-avoidance permission, we propose an algorithm for dual-arm robots. First, design a self-obstacle gradient optimization function to implement the task between two arms robots by using pseudo-distance as basis collision judgment. Second, is implemented applying adaptive velocity. Third, realized virtual repulsion force. Finally, robot 6-DOF Jaco2 manipulators simulated in Matlab environment verify The simulation results show that proposed this paper can complete multi-obstacle simultaneously premise realizing robots, has minor trajectory error, which proves feasibility completing avoidance.