A Coordinated Motion Planning Method for a Dual-Arm Robot under Multiple Constraints

Dual-arm robotic systems have a wide range of applications in fields such as industrial automation, home services, medical assistances and space operations. However, they face many challenges in practical applications, such as solving the difficult problem of coordinated fast motion planning of dual-arm under multiple constraints (especially closed-chain constraints). In this paper, we propose a dual-arm coordinated motion planning method based on the Model Predictive Path Integral (MPPI) with closed-chain constraints. Firstly, a stochastic optimal control method is adopted to handle continuous or discontinuous cost functions to solve the dual-arm high-dimensional coordination motion optimization problem. Secondly, multiple forms of constraints for the coordinated operation of the dual-arm are constructed, including task constraints, end position closed-chain constraints, energy constraints, and so on. Finally, the results of simulation experiments show that the proposed method can achieve better coordinated motion planning effect in the two stages task in which the end-effectors of the robotic dual-arm to reach the two target points, which verifies the effectiveness of the proposed method in solving the coordinated and fast motion planning problem of the dual-arm under the closed-chain multiple constraints. It provides new technical ideas and theoretical support for the practical application of robotic dual-arm in complex scenes.