现代制造工程Issue(6)：42-50,9.DOI:10.16731/j.cnki.1671-3133.2026.06.005
双工业机械臂协同作业的动态路径规划与优化算法
Dynamic path planning and optimization algorithm for collaborative operation of dual industrial manipulators
摘要
Abstract
Aiming at the problems of low search efficiency,local optimality and obstacle avoidance hysteresis in high-dimensional dynamic scenarios when traditional algorithms are applied to dual industrial manipulators,a global-local two-layer path optimiza-tion framework was constructed.Specifically,the Rapidly exploring Random Tree(RRT)controlled by a gravitational function was adopted and combined with the Dynamic Window Approach(DWA).Meanwhile,a task scheduling state pool was designed to realize path mutual avoidance and beat synchronization of cooperative manipulators in the shared space.A simulation evaluation of dual industrial manipulators cooperative operation in high-density obstacle and dynamic interference environments was conduc-ted based on the ROS 2 and Gazebo platforms.Compared with the unoptimized path,after the dynamic path planning and optimi-zation algorithm was enabled,the average path length was shortened by approximately 18.0％,the average energy consumption was reduced by about 18.0％,the number of conflicts decreased from 3 to 0,and the scheduling delay was also significantly short-ened.Subsequently,the algorithm was deployed in an actual metal component assembly unit to complete a two-week continuous grasping and insertion task verification.The average planning time was maintained within 85 ms,the average pose error was con-trolled within±2.3 mm,and no shutdown conflicts occurred.These results demonstrate that the algorithm has good engineering feasibility and stability.Studies have shown that the coupled strategy of gravity bias and dynamic obstacle avoidance can signifi-cantly improve the path quality and system robustness of dual industrial manipulators collaborative operations,and provide effec-tive technical support for the flexible scheduling of intelligent manufacturing production lines.关键词
双机械臂协同/路径规划/快速扩展随机树/动态窗口法/动态避障/ROS 2平台Key words
dual manipulator collaboration/path planning/rapidly-exploring random tree/dynamic window approach/dynamic ob-stacle avoidance/ROS 2 platform分类
信息技术与安全科学引用本文复制引用
丘宏岳,唐晓鑫,韩伟,段海峰,彭怡生,陈宇姗..双工业机械臂协同作业的动态路径规划与优化算法[J].现代制造工程,2026,(6):42-50,9.基金项目
2024年度广东省高等教育教学改革项目(J1225007) （J1225007）
2025年度广东省教育科学规划课题项目(2025GXJK0689) （2025GXJK0689）
