Dual-Arm Robot Motion Planning for Collision Avoidance using B-Spline Curve

Abstract

This paper proposes an algorithm for trajectory planning of dual-arm robot. Since the original collision-free path obtained in a probabilistic way is unnecessarily jerky, it may induce a high acceleration to robot's actuator so we regard this as a low quality path. To improve the quality of path, we propose the B-spline trajectory planning algorithm that transforms the path into the collision-free and smooth trajectory. And as a specific example of application, we applied our proposed algorithm on cell-phone assembly task using the dual-arm robot. The simulation results show that the smooth and collision-free trajectories for the task can be generated with our motion planning simulator.