| Traditional non-redundant degree of freedom (DOF) of industrial manipulator has been widely applied in the industrial field and family services. The structure of the control system and motion planning method for the kinematics of these robots are simple and these robots normally used for some fixed, repetitive production work because the engineering application field is refined by their flexibility. In order to extend the application field of the manipulator, the redundant robot manipulator with its excellent flexibility, strong adaptability was studied by many researchers. Redundant manipulator, namely, the DOF of manipulator in the joint space is greater than that required to express the task in the task space. Considering the practical application on the view of calculation efficiency and flexibility,7 DOF redundant manipulator has become the main research object in this field. Simultaneously, the coordinated control of the dual-arm which composed of two 7 DOF redundant manipulators has become the research hotspot in the field of manipulator. Due to inherent complexity of the motion control of the redundant robot manipulator, the research level of the redundant manipulator control and dual-arms coordinated control marks a national academic status in the field of robot manipulator control to some extent. Compared with traditional manipulator, the redundant robot manipulator has a broad application prospect, such as obstacle avoidance, fault-tolerant, energy optimization and it is an important development direction for the next generation industrial robot. In this paper, on the basis of the redundant robot manipulator, with single-arm online motion planning method and dual-arm coordination control strategy as the research content, some relevant researches are carried out to solve the existence problem about the robot manipulator control, including the imperfect constraint model in the online motion planning method, the optimization target singleness, solution speed easily limited and the model dependence problem in the force control strategy of dual-arm coordination operation control.First of all, the research status about the motion planning of single redundant robot manipulator is introduced, and then the disadvantage existed in the online motion planning of the traditional method based on pseudo-inverse is analyzed. Afterwards, the advantage and the problem need to be solved of the online method are described. According to the existing online motion planning method, a dual modal online optimization method based on torque constraint model is designed for the motion planning of the redundant robot manipulator. The model has three characteristics:firstly, the constraint model of the online motion planning is extended from the kinematics layer to the dynamics layer. Secondly, the dual-mode optimal goal to solve motion planning in the limited space is proposed, and combined with the traditional least-square method, this method is extended to solve the singularity problem during the motion planning task. Thirdly, the dual modal online optimization method is converted as a nonlinear quadratic programming problem. Combining the interior-point method and taking the solution speed and precision into consideration, an online method suitable for engineering application to solve this online scheme is proposed simultaneously.Secondly, the basic method and basic theory of coordination control are introduced and the force constraint model of current dual-arm coordination control is described simultaneously. Based on the defect analyzing of the impedance control which leaded by the dependence of precise model, a coordinated control strategy based on virtual dynamic model of the arms is established for controlling the dual-arm coordinated cooperation, including assembly and hauling. This strategy has some features:first, the Cartesian space motion planning can be applied to the force control in joint space directly without considering the complex inverse kinematics calculation and the singular problem can be avoided simultaneously. Secondly, the nonlinear term in the traditional dynamic model, such as gravity, friction, can be neglected by using this method. The force sensor is used to achieve online feedback control, and then the dependence of the coordinated control model is decreased effectively.Thirdly, the design methods of hardware system and software system for the domestic and foreign industrial robot control system are investigated and then the advantages and disadvantages of these architectures’ are compared. Based on these comparisons, combining with our specific application, an architecture developed independently based on the CAN-bus network is used for controlling the redundant robot. Each joint nodes of the redundant robot is connected based on the star network topology. The software of the motion control system is built based on the Linux+ RTAI real-time operation system. Then the real-time motion control system for the dual-arm robot experiment platform has been built.Finally, the efficiency of the above mentioned algorithm is verified by comparing the simulation results, and then some experiments are carried out on the above constructed platform, including mechanical arm calibration, hand-eye coordination, redundant manipulator online movement planning and coordination. The detailed experiment process and actual experiment results were analyzed and discussed. On the basis of the detailed discussion and analyzing, the problems appeared in the process of experiment and achievements aroused from the experiment results are summarized for further describing the advantage and the disadvantage of the proposed method.In conclusion, the methods proposed in this paper are mainly aiming at the control of the redundant robot manipulator and dual-arm coordinate operation. The validation of the redundant robot manipulator is verified from the prospective of the simulation and experiment results. The proposed methods can give a new reference for the research of the current redundant robot control, such as motion planning and dual-arm coordination operation, and provide a new thought for transferring this motion control to engineering application.
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