In this paper. a motion planning method based on the Soft Actor-Critic (SAC) is designed for a dual-arm robot with two 7-Degree-of-Freedom (7-DOF) arms so that the robot can effectively avoid self-collision and at the same time can avoid the joint limits and singularities of the arm. The left-arm and right-arm of the dual-arm robot each have a neural network to control its position an... https://safeersappliancers.shop/product-category/cda-ff881sc-280-litre-freestanding-upright-freezer-185cm-tall-frost-free/