Patent ID: 11969892
Assignee: BEIHANG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 3:
4. The method of claim 2, wherein the dual-arm collaborative capability fitness subfunction considers the joint with longest running time and a sum of the rotation angle of each joint, and the corresponding formula is as follows:, m
    
    
     f
     
      2
      ⁢
      n
     
    
   
   =
   
    min
    ⁢
    
     {
     
      
       1
       
        
          
         m
        
        
         Θ
         Ln
        
       
      
      ,
      
       1
       
        
          
         m
        
        
         Θ
         Rn
        
       
      
     
     }
    
   
  
  ,
 

wherein, mf2n represents the dual-arm collaborative capability fitness subfunction, and Θ represents the sum of the rotation angle of each joint of a robotic arm from an initial posture to a target posture;
the dual-arm synchronization fitness subfunction is intended to ensure the synchronization between the dual arms reaching the target points as much as possible, and the corresponding formula is as follows:, m
    
    
     f
     
      3
      ⁢
      n
     
    
   
   =
   
    1
    
     
      ❘
      "\[LeftBracketingBar]"
     
     
      
       
        max
        m
       
       
        θ
        Ln
       
      
      -
      
       max
       ⁢
       
        
          
         n
        
        
         θ
         Rn
        
       
      
     
     
      ❘
      "\[RightBracketingBar]"
     
    
   
  
  ,
 

wherein, mf3n represents the dual-arm synchronization fitness subfunction, and θL, θR represents a rotation angle of each joint of the left and right arms.