The Research On Two-arm Robot's Kinematics, Manipulability And The Optimization Of Manipulability

Taking two-arm robot articulated with rotational joints as research object,. this paper research on it's kinematics, manipulability and the optimization of manipulability.According to my teacher's research method, making use of multi-body system theory ,First, the recurrence kinematic equations of single arm robot articulated with rotational joints are deduced. The robot's forward kinematics ,inverse kinematics and Jacobian matrix's solving are discussed. Based on this foundation, the constrained displacement equations, the constrained velocity equations and the constrained acceleration equations of two-arm robot articulated with rotational joints in the process of coordinate motion are established. Making use of these equations,the forward kinematics ,inverse kinematics when two-arm robot manipulates a workpiece are settled.In the next place, on the basis of analysing and comparing the robot's manipulability, the velocity directional manipulability measures and the force directional manipulability measures are defined. Under the condition of known robot's position and posture, taking the velocity directional manipulability and the force directional manipulability as the performance indexes, measure the velocity and the force transmission characteristics of robot along different directions. With a simulation example, the different velocity transmission characteristics and force transmission characteristics between single arm robot and two-arm robot are discussed. The result of theory analysis and simulation example shows that, on the same spot in operation space, the velocity transmission characteristics of robot is weak when the force transmission characteristics is strong, the force transmission characteristics of two-arm robot is better than single arm robot, the velocity transmission characteristics of two-arm robot is weaker than sigle arm robot. On the different spot in operation space, regardless of single arm robot and two-arm robot, the velocity transmission characteristics and the force transmission characteristics are not the same.Once more, making use of the characteristics that the inverse kinematics of robot can amalgamate the performance index, on the basis of the kinematics of two-arm robot, the joint trajectory planning method based on the velocity and the force directional manipulability which taking the velocity directional manipulability as the performance index are established. With a simulation example calculated in Matlab, the joint displacement, the joint velocity and the operational configuration of a planar redundant two-arm robot are gotten. The result of theory analysis and simulation example shows that, use this trajectory planning method, the two-arm robot's velocity transmission characteristics and force transmission characteristics can be improved rapidly, moreover, the two arm's tracking error is lesser.Last, the research work of this paper are generalized, the completed work and the deficiency of this paper are indicated, some suggestions are proposed for the future research.