Research on Collision Avoidance Path Planning of Double SCARA Robot

This paper takes double SCARA robot as the research object and uses the computer graphics method to get the collision detection method of two robotic arms at a certain moment. On the basis of collision detection, the C-space method is used to plan the collision avoidance path for the two robots and the two robots considering the end-effector, and the collision avoidance algorithm for the double SCARA robot is obtained. Then, the simulation experiment is carried out to verify the correctness of the algorithm.