Due to the structural resemblance of redundant dual-arm robots to human arms, they are widely employed to replace humans in open operational environments. Addressing safety concerns related to the autonomous operations of redundant dual-arm robots in open environments, this paper proposes a real-time collision avoidance method. Firstly, an avoidance direction adjustment algorithm is designed based on the avoidance function method, providing a collision avoidance formulation for the robot control point. Secondly, an obstacle classification algorithm is devised to categorize obstacles into robot body obstacles and end-effector obstacles, and the collision avoidance strategy of redundant dual-arm robots is designed. Subsequently, a collision avoidance penalty factor is introduced based on the proximity between the end-effector and the target point, ensuring the convergence of the joint velocity. Finally, a novel collision avoidance formulation for redundant manipulators is presented, further extended under dual-arm coordinated tasks. Numerical simulations and physical experiments demonstrate that the proposed method can achieve self-collision avoidance for redundant dual-arm robots and dynamic/static obstacle avoidance in dual-arm coordinated tasks, with smooth collision avoidance maneuvers. The research results provide safety guidelines for autonomous operations of redundant dual-arm robots in open operational environments.

中文翻译：

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一种开放作业环境下冗余双臂机器人的实时防撞方法


由于冗余双臂机器人的结构与人类手臂相似，因此它们被广泛用于在开放式操作环境中替代人类。针对冗余双臂机器人在开放环境中自主运行相关的安全问题，本文提出了一种实时防撞方法。首先，基于避让函数方法设计避让方向调整算法，为机器人控制点提供避碰公式;其次，设计了障碍物分类算法，将障碍物分为机器人本体障碍物和末端执行器障碍物，并设计了冗余双臂机器人的避碰策略。随后，根据末端执行器和目标点之间的接近度引入碰撞避免惩罚因子，确保关节速度的收敛。最后，提出了一种用于冗余机械手的新型防撞公式，并在双臂协调任务下进一步扩展。数值仿真和物理实验表明，所提方法可以实现冗余双臂机器人的自碰撞避让和双臂协同任务中的动/静态避障，碰撞避让机动平稳。研究结果为冗余双臂机器人在开放运行环境中的自主运行提供了安全指南。