Cooperative planning of dual arm robot based on Improved Particle Swarm Optimization

摘要

The trajectory optimization of dual arm robot is a typical engineering optimization problem. Because of the collision detection, the relationship between the decision variables and the fitness function cannot be expressed directly. Particle swarm optimization (PSO) is a typical meta heuristic method, which is often used to solve engineering problems in recent years because of its easy implementation, fast computing speed and strong stability. In this paper, UR5 dual arm robot is taken as the research object. Based on quintic polynomial interpolation algorithm based path planning, a cooperative optimization method of dual arm robot is proposed, and an improved particle swarm optimization algorithm is used to plan the path of dual arm robot. Through the test of the path planning of the dual arm robot based on the improved particle swarm optimization algorithm, the experimental results show that this method can effectively solve the path planning problem of the dual arm robot.