Motion Planning of Redundant Dual-Arm Robots With Multicriterion Optimization

In this article, we develop a novel tricriteria coordinated motion planning scheme for the redundant dual-arm robot at the velocity level. The optimization criteria are designed to avoid problems for both joint angle drift and kinematic singularity of the redundant robotic arm. First, we establish the preliminary optimization equation by putting together criteria including minimum velocity norm, repetitive motion planning, and maximum manipulability. Meanwhile, the physical limitations of each joint are viewed as constraints. Second, this preliminary optimization equation is transformed into a constrained convex quadratic programming problem so that various solvers can solve the optimization equation and guarantee the optimality of the solution. Finally, we generalize the optimization strategy to dual-arm robots by solving the optimization equations of the two robotic arms in a unified framework. Experiments on a virtual redundant dual-arm robot are carried out to validate the effectiveness and feasibility of the proposed coordinated motion planning scheme.