Research On Trajectory Planning And Position-force Coordination Control Of Dual-manipulator Cooperative System

Using robots to replace manual work in the field of high risk distribution and high labor intensity of power distribution line maintenance is bound to become a new development trend,and multi-robot collaboration technology is the key technology to improve robot autonomy and flexibility.This paper focuses on the base coordinate system calibration,trajectory planning,and coordinated control of position force of the dual robotic arm system.The research,design,and experiment are carried out.The paper mainly completes the following tasks:(1)The base coordinate system calibration method of the double robotic arm system was researched,and the base coordinate system calibration method based on the "handshake" action was designed and implemented.At the same time,the 3D printing technology was used to install a calibration pin at the end of the robotic arm to be calibrated to improve the calibration.Precision.It is verified through experiments that the calibration accuracy meets the requirements of actual operation tasks,which lays the foundation for the coordinated trajectory planning of the dual robotic arms.(2)The base coordinate system calibration method of the double robotic arm system was researched,and the base coordinate system calibration method based on the "handshake" action was designed and implemented.At the same time,the 3D printing technology was used to install a calibration pin at the end of the robotic arm to be calibrated to improve the calibration.Precision.It is verified through experiments that the calibration accuracy meets the requirements of actual operation tasks,which lays the foundation for the coordinated trajectory planning of the dual robotic arms.(3)Based on the results of the coordinated trajectory planning of the dual manipulators,a particle swarm optimization algorithm was designed and implemented.The trajectory initial point optimization method based on the overall operability of the dual robotic arm cooperation system as a fitness function was designed and implemented.Constraint space and singularity are both designed to design a suitable location update strategy.Finally,the initial cooperative position and corresponding motion trajectory that can avoid the singularity and optimize the operability of the dual robotic arm cooperation system under the constraint space are obtained.(4)The mechanical control methods of the robot arm with impedance control and position-force hybrid control are studied.Based on the analysis of the mechanical model during the coordinated handling of the dual robot arms,an adaptive impedance control method based on a master-slave control strategy is designed and implemented.Among them,the master robot arm uses position control,and the slave robot arm uses position and force control.And experimental results show that the controller can achieve position and force tracking control.