Multi-working-arm cooperative working motion planning method

The invention discloses a multi-working-arm cooperative work motion planning method. The method comprises the steps that (1) firstly, steel bars are placed on a mold table, and a steel bar net is formed; (2) point location screening, (3) region division, (4) coordinate processing, and (5) driving each motor to move according to coordinate information obtained through preorder processing by a motion control algorithm, and carrying out real-time collision detection in the motion process; and (6) bundling. According to the motion planning method for cooperative work of the multiple working arms, in the bundling process, the bundling points are shot through the camera, bundling point position information is recognized through image processing, motion planning of the multiple bundling arms is completed through the motion planning algorithm, the method can adapt to multiple working modes, and the working efficiency is improved. According to the technical scheme, the motion planning of the working arms of the strapp