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- W4296868785 abstract "For the precision assembly task of a two-arm robot, this paper proposes a two-arm robot path planning algorithm based on the improved RRT* algorithm. Based on the RRT* algorithm, four random trees are created, and the repulsive potential energy between random trees is added to the potential energy function, and then the acceleration cost is added to the method of reconnecting random trees according to the cost, which greatly speeds up the exploration of the state space by random trees. The obstacle detection method is added, and the adaptive step size adjustment function and adaptive sampling probability adjustment function are used, and the multiple random tree merging and path smoothing optimization methods are adopted to make the planning path smoother and the robotic arm operation more stable. The experimental results show that the pin holes can be assembled precisely with an assembly accuracy $$le $$ 0.1 mm, which proves that the path planning algorithm of the dual-arm robot based on the improved RRT* algorithm meets the requirements of speed and stability in the assembly task of the dual-arm robot." @default.
- W4296868785 created "2022-09-24" @default.
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- W4296868785 date "2022-01-01" @default.
- W4296868785 modified "2023-10-16" @default.
- W4296868785 title "Research on Dual-Arm Robot Assembly Path Planning Based on Improved RRT* Algorithm" @default.
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- W4296868785 doi "https://doi.org/10.1007/978-981-19-6226-4_75" @default.
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