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- W2895817903 abstract "In the rapid development of industrial intelligence, robotics have been widely used in various fields. This paper takes the six-freedom dual-arm as the research object, it proposes a new path planning method combining linear interpolation method and artificial potential field method. This new method establishes the forward kinematics model of the six-degree-of-freedom manipulator with DH method. The robot arm is calibrated with the improved circular datum self-calibration method. In the process of manipulator movement, the main manipulator moves according to the linear interpolation method, and the secondary manipulator moves according to the combination of linear interpolation and artificial potential field. Namely, the secondary manipulator performs motion planning based on the vector sum(The gravitational field generated by the target point and the repulsive field generated by the main manipulator). This new method not only considers the continuity and displacement of the manipulator, but also ensures that the path is the shortest on the premise that the arms do not collide. Finally, the article verifies the reliability of the method by the dual-arm collaboration pouring experiment." @default.
- W2895817903 created "2018-10-26" @default.
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- W2895817903 date "2018-08-01" @default.
- W2895817903 modified "2023-09-23" @default.
- W2895817903 title "Research on Cooperative Work Path Planning Method Based on Double 6 - DOF Manipulators" @default.
- W2895817903 cites W2774851179 @default.
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- W2895817903 doi "https://doi.org/10.1109/icma.2018.8484720" @default.
- W2895817903 hasPublicationYear "2018" @default.
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