Bidirectional RRT-based motion planning for supple gripping of dual-armed robotic arm

This paper is dedicated to enhancing the efficiency of robotic arm motion planning and adapting it to the stringent computational resource constraints encountered in on-orbit service missions. In this paper, we introduce an novel operational approach specifically designed for dual-armed robots performing grasping operations in space. The core of this paper lies in the development of a novel grasping strategy using the Bi-Rapid Random Tree (Bi-RRT) algorithm, which is tailored to plan efficient grasping trajectories for dual-armed robots. To evaluate the performance of the proposed method, a series of simulation experiments and real tests were conducted. The results indicate that the algorithm not only successfully devises obstacle-avoiding paths but also exhibits excellent adaptability and effectiveness in practical applications.