Analysis of Workspace of Dual-arm Robot in Obstacled Environment

The workspace of the dual-arm robot under the obstacle working environment is analyzed. An improved D-H coordinate system is established for the six-degree-of-freedom manipulator, and the coordinates of the end of each connecting rod are solved through the forward kinematic equation. Based on the Monte Carlo method, firstly analyze the ideal workspace without obstacles, further abstract the obstacles into a cylindrical envelope, and design a collision detection strategy to analyze the workspace that is closer to the actual work scene. The results show that the workspace analysis method using the collision detection strategy can delete a large number of collision points, which provides a basic optimization for the subsequent use of fast-expanding random tree and other manipulator path planning algorithms so that the algorithm avoids selecting invalid points during spatial sampling and reduces the number of collision points. Path search time.