Dynamic Collaborative Control and Path Optimization for Multi-Arm Rebar-Tying Robot

This paper introduces a technical solution for efficient rebar tying by developing a multi-arm rebar tying robot system. We introduced a multi-arm collaboration to achieve parallel task execution, which is 2.6 times more efficient than a single-arm system. A real-time dynamic adjustment algorithm based on market auctions ensures a coordinated and efficient direct operation of robotic arms. An optimized hybrid path planning method is used to improve the positioning accuracy of the rebar intersection, reducing the positioning error to 0.59 mm. Through modeling and simulation analysis, we show that the system can increase efficiency to 62% under different working conditions and minimize labor requirements.