Research on trajectory planning of intelligent cooperative motion of two robotic arms

With the rapid development of intelligent robots, the application of cooperative robotic arm in dangerous and high-precision situations has become a research hotspot. The trajectory planning of its arm is one of the difficult problems. On the basis of mathematical modeling and demonstration of the cooperative manipulator, in view of the inherent defects and problems of the traditional VPF algorithm, this paper proposes an improved velocity potential field algorithm considering the direction factors and obstacle velocity factors, which can stably avoid dynamic obstacles and ensure the safety of operators and equipment. The paper improves the RRT algorithm to enhance its running speed during the operation of dual robotic arms.