Path planning method, system and medium for dual-arm robot cable routing
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-04-21
- Publication Date
- 2026-07-17
AI Technical Summary
Existing robot cable laying technology suffers from problems such as a disconnect between planning and control, a single perception dimension, and a rigid coordination mechanism. It fails to effectively integrate the flexible deformation characteristics of cables with the dynamic environment, resulting in poor laying accuracy, easy interference, and a lack of real-time monitoring and control of the physical properties of cables.
A multi-dimensional cost map integrating environmental obstacles, cable flexibility deformation, and dual-arm kinematic constraints is constructed. By combining an improved RRT algorithm and a state prediction observer, synchronous planning and optimization of the robotic arm motion and cable morphology are achieved. The motion priority of the dual arms and workspace allocation are coordinated in real time, and optimal control commands are generated to avoid trajectory conflicts.
It improves the precision control of cable laying, obstacle avoidance in dynamic environments, and collaborative operation efficiency, effectively avoids trajectory conflicts, and enhances system safety and operational efficiency.
Smart Images
Figure CN122401389A_ABST