The Algorithm of Multiple Obstacle Avoidance Tasks for Dual-Arm Robots

To achieve multiple obstacle avoidance tasks consisting of zero-space obstacle avoidance and terminal obstacle avoidance with self-avoidance permission, we propose an algorithm for multiple obstacle avoidance tasks for dual-arm robots. First, we design a self-obstacle avoidance gradient optimization...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Quancheng Pu, Xiangrong Xu, Hui Zhang, Qiqi Li, Aleksandar Rodic, Petar B. Petrovich, Haiyan Wang, Shanshan Xu, Zhixiong Wang
Format:	Article
Language:	English
Published:	IEEE 2023-01-01
Subjects:	Dual-arm robots pseudo-distance self-obstacle avoidance terminal obstacle avoidance zero-space obstacle avoidance simulations
Online Access:	https://ieeexplore.ieee.org/document/10158703/