Obstacle avoidance criteria based motion planning for dual-arm mobile robot moving within truss

Motion planning approach for dual-arm mobile robot within a truss is studied based on the obstacle avoidance requirements when moving in truss. The collision-free path search algorithm for end-effector in Cartesian coordinate space is proposed based on state-space model, which avoids the problem of complexity growing exponentially in Configuration space (C space) and achieves the requirement of truss bar could either be a target or and obstacle. Obstacle avoidance criteria within the plane for three-arm of dual-arm mobile robot is established, which solves the problem that robot's arms collide with truss bar when the robot moves in truss space. According to the obstacle avoidance criteria within the plane and arm configurations signs, the analytical solution of each joint angle is obtained, which solves the problem that the numerical solution is not closed. The gesture of end-effector in each moment is interpolated linearly by general rotation transformation formula. Matlab is used to model and simulate the dual-arm mobile robot's motion in the truss to verify the feasibility of the obstacle avoidance approach for the motion in the truss.