Research On Control System Of Seven-degree-of-freedom Dual-arm Cooperative Robot Based On ROS

Since the advent of industrial robots,the pattern of industrial production has changed a lot.With the complexity of industrial scenes and the diversity of tasks,the traditional six-degree-of-freedom industrial robot can no longer fully meet the needs.Compared with the traditional 6-DOF manipulator,the dual-arm 7-DOF robot with redundant joints has better fault tolerance,flexibility and obstacle avoidance ability,which also improves the working efficiency of the manipulator.Dual-arm cooperation also greatly improves the working ability of the robot,and the cooperative control of the dual-arm robot becomes an important part.The development of robot application involves the numerical calculation of the bottom layer,the development of the upper layer and the position control of the robot,which is a tedious process.Therefore,it is of great application value to study the cooperative motion trajectory planning of dual-arm robot and the robot application development process.In this thesis,the 7-DOF dual-arm cooperative robot is taken as the research object,and its kinematics analysis,cooperative motion planning,ROS-based controller development method and other contents are studied as follows:Firstly,the kinematics modeling and analysis of dual-arm robot based on DH modeling are studied.Aiming at the seven-DOF dual-arm cooperative robot studied in this thesis,the DH modeling method was used to model the kinematics of the manipulator arm,and the forward kinematics equation was established by using the homogeneous transformation matrix.The inverse kinematics of the robot was solved by a method based on redundancy parameters.The results of kinematics analysis are simulated and verified with the help of MATLAB robot toolbox.The verification results show that the method used in this paper is correct.Secondly,the research of cooperative motion control algorithm of dual-arm robot based on constraint preserving algorithm is studied.Aiming at the problem of trajectory planning in the case of two-arm cooperation,two common trajectory planning principles in the case of non-cooperative Cartesian space are firstly discussed.Then,based on constraint preserving theory,the two-arm constraint preserving relation is derived for two kinds of cooperation cases.Thirdly,the development method of robot control system based on ROS is studied.After the basic operation principle of ROS is systematically described,the trajectory planning method deduced above is simulated and verified by ROS platform and development tools.Finally,the development of communication interface between robot servo control system and ROS based on PC controller is studied.In this part,the communication network and PC control interface development of robot servo control system based on EthereCat bus are described,the ROS communication interface development scheme is analyzed,and the communication interface design between ROS and PC controller is completed.