Parallel Algorithm for Collision Avoidance Motion Planning of Dual Arm Grasping of Humanoid Robot
Hua-ZhongLi, Yong-ShengLiang, Qiang-pingTang
COMPUTER MODELLING & NEW TECHNOLOGIES 2014 18(12D) 110-116
Shenzhen Institute of Information Technology, Shenzhen, 518172, China
Aiming at such problems as grasping space limitation, unknown target configuration, DOF redundancy of dual arm and singular configuration for collision avoidance motion planning of simultaneous grasping of high-dimensional space humanoid robot, firstly, forward kinematics for dual arm of humanoid robot and SVD-based inverse kinematics models have been established. Secondly, this paper has put forward a parallel algorithm for dual arm grasping motion planning framework integrating SVD and RRT techniques and DAGRRT collision avoidance motion planning. Finally, the correctness and effectiveness of the algorithm proposed in this paper has been verified via computer 3D visualization simulation.