Base-Arm Collaborative Planning of A Dual-Arm Mobile Robot for Truss Handling Tasks on the Moon

Dual-arm mobile robot has a good application prospect in various deep space exploration projects in the future. In this paper, a base-arm collaborative planning method for the truss handling task on the moon is proposed. Firstly, the kinematic model of the dual-arm mobile robot is built. For the task of grasping a truss, an optimization model for the location of robot base is built considering better dexterity and lower energy consumption. Then, a pareto solution set of optimal locations of robot base and moving trajectory which is feasible for the task can be calculated by NSGA-II algorithm. Simulation shows that the planning method can greatly improve the dexterity and energy consumption of a task compared with the no optimization method.