双臂机器人无碰撞运动规划

双臂SCARA型机器人的操作臂的运动可以看成是平面内的四边形的运动，得出表示主 臂四边形位置的不等式，将表示从臂的四边形的边界取点离散，然后将从臂的关节空间进行 等分，在关节空间等分点上求从臂在此位置时其边界离散点的笛卡儿坐标，并将其代入表示 主臂位置的不等式以判断主从臂是否碰撞，然后用A*算法求取一条最优的无碰撞运动轨迹

COLLISION-FREE PATH PLANNING OF DUAL-ARM ROBOT

The motion of the arms of the SCARA type dual arm robot can be simplified to be the motion of quadrangles. Get the inequality representing the position of the master arm and discretize the boundary of the quadrangles representing the slave arm, then divide the joint space of slave arm into several equal parts and get the Cartesian coordinate of those discretizing point in the Cartesian space corresponding the dividing point. put those coordinates into the inequality and check the inequality to judge if the master arm collide with the slave arm, finally search the collision free point to get the optimal path.