Method for planning coordinated operation paths of double-arm robots

The invention discloses a method for planning coordinated operation paths of double-arm robots. Two handles of scissors are connected to the tail ends of double arms of each double-arm robot. The method includes acquiring initial joint angles of the double arms of each double-arm robot, initial included angles of the scissors and end included angles of the scissors and acquiring total path planning step numbers K; planning opposite angle difference theta by the aid of velocity trapezoidal processes with parabola transition, and acquiring trapezoidal velocity curves omega and omega of angular velocities of the centers of masses of the left handles and the right handles of the scissors; solving linear velocity curves v and v of the centers of the masses of the handles of the scissors by the aid of velocity constraint formulas according to the angular velocities omega and omega of the centers of the masses of the handles of the scissors; substituting the angular velocities omega and omega and the linear velocity curves v and v into double-arm coordinated movement constraint equations, and respectively solving linear velocity curves v and angular velocity curves omega of the tail ends of the left arms and linear velocity curves v and angular velocity curves omega of the tail ends of the right arms; acquiring angular velocities and linear velocities of the tail ends of the left arms and the tail ends of the right arms according to time corresponding to the current step numbers during path planning and solving joint angular velocities of the left arms and the right arms according to constraint formulas; solving joint angles of next step numbers k+1 and sequentially solving joint angles of step numbers 1, 2,... and K.