Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm

A dual-chain manipulator with one fixed base and two kinematic chains is presented in this paper. Aiming at the difficulty of motion planning of dual-chain manipulator, a motion planning method of dual-chain manipulator based on Artificial Bee Colony Algorithm (ABC) is proposed. Firstly, the ABC is used to optimize the initial configuration of the dual-chain manipulator. Then, the end-effector path of the dual-chain manipulator is planned by the Rapidly-Exploring Random Tree Star (RRT*). Finally, the joint trajectory is generated by Gradient Projection Method (GPM) after the initial configuration and end-effector path are determined. In the experimental part, the prototype experiment of the dual-chain manipulator is given, which proves the feasibility of the motion planning method proposed.