Research Of The Wireless Configurable Cooperative Control System Based On Dual-arm Operation

Compared with single-arm robot,dual-arm robot which has more flexible operation ability and can accomplish more complex tasks,will has a broad application prospect.However,the research of dual-arm robot system is difficult,especially the good synchronization reqruirement of each arm in collaborative operation.In addition,a large number of cable connection betwe en the cabinet and the robot is needed in the current mainstream dual-arm robot system,and it causes trouble about installation,debugging and maintenance.Based on this,this paper has developed a multi-level wireless configurable cooperative control system for dual-arm operation,which can improve the real-time and synchronization of dual-arm coordinated control,greatly reduce the number of cables,and bring great convenience for installation,commissioning,maintenance and so on.According to the characteristics of dual-arm coordination task,the technical requirements and indicators of dual-arm coordinated control system are determined.By defining the specific function of each level,a wireless distributed multi-level control system is proposed in this paper.The designed control system is composed of the dual-arm central controller,the single-arm motion controller,and the wireless information transmission unit.In the hardware,each controller uses the redundant backup design that two STM32F407ZGT6 processors share a dual port RAM,normally one of the processors is regard as the main chip and the other is regard as the slave chip.When the exception occurs,the slave chip replaces the main chip to continue to work,so as to ensure the normal operation of the system.The integrated plug-in installation method can support the integration of multiple sets of controllers,and the number of controllers can be configured according to the number of manipulators.As a result of the same hardware architecture,the functions of the dual-arm central controller and the single-arm motion controller can be switched and applied flexibly.In addition,the wireless communication mode based on ZigBee is adopted,which greatly reduces the number of electrical connections.Because of the separation of the control cabinet and the robot body,it is easy to realize remote control,and provides the condition for the distributed installation of many robots in the future intelligent factory.In order to facilitate the user's task planning,on-line status monitoring,and remote operation,an embedded real-time operating host computer has been developed.The host computer is based on Visual Studio software,which integrates interactive 3D graphics program OSG and provides a CAN com munication interface.It can generate off-line task trajectory,realize task simulation,and also receive the real-time status data of dual-arm central controller to realize the online monitoring of robot motion.In addition,the kinematics modeling for dual-arm robot system and the motion constraint equation of position,velocity and acceleration level for dual-arm coordination are established.The control strategy of dual-arm closed-chain operation is determined and the dual-arm grasping of target load is realized by a collaborative algorithm.The algorithm is implemented in both host computer and dual-arm central controller,which meets the requirements of off-line programming and on-line programming respectively.Finally,the simulation environment and experimental platform of dual-arm cooperation are set up,and the semi-physical simulation and prototype experiment of dual-arm grasping are completed.The results show that the developed dual-arm cooperative control system has good stability and easy operation.