Aiming at the double manipulator system for cooperative operation,a real-time obstacle avoidance path planning method that does not rely on external sensors and does not require dynamic modeling was proposed.Based on kinematics and hybrid bounding box method,the manipulator model and obstacles were simplified,the possibility of interference was quickly judged by the projection intersection method,and the collision detection was transformed into the shortest distance solution,and the traditional artificial potential field method was improved by combining the velocity field,adding virtual constraint points and considering the obstacle boundary.Finally,the static and dynamic obstacle collision detection algorithms were verified by MATLAB-CoppeliaSim co-simulation.The results show that the collision detection algorithm can adapt to dynamic and static complex obstacle environments,and has high universality.The generated obstacle avoidance path can jump out of the minimum value and achieve the target reachable,effectively guaranteeing the human-computer interaction and equipment safety.