The Research Of Humanoid Dual-arm Robot Trajectory Planning

Due to the rapid economic and social development,the traditional single arm robot has been unable to meet the increasingly complex requirement of the work,and gradually showed the shortcomings instead of humans.Especially with the increasing demands for industry,medical care and service,it is urgent for robots to be more like human and able to “fighting with people”.In this background,humanoid dual-arm robots have been manufactured with the continuous development of robotics.Compared to single arm robots,humanoid dual-arm robots are more dexterous and able to interact with people,which is undoubtedly a major breakthrough in the field of robot technology.However,the spread and application of humanoid dual-arm robot in various fields of economy and society largely depend on the trajectory planning.The trajectory planning of humanoid dual-arm robots is the important support of executive function,and is the important guarantee of path implement and quality.In view of this science problem,based on robotics,mechanics,mechanics,rehabilitation medicine,matrix theory,this thesis will study and explore from different levels by using the method of theoretical analysis,simulation and experimental verification of the combination.The main problems are researched as follows:1.Through the modified Denavit-Hartenberg parameter(D-H parameter),a new coordinate frame system convension is proposed.The kinematics analysis and dynamics analysis are unified organically in one set of coordinate frame system.When analyzing the complex multi branch tree-structured robots,the shortcomings which according to traditional coordinate system are effectively overcome.2.The configuration design of dual-arm rehabilitation robot is completed.The forward kinematics analysis and modeling of dual-arm rehabilition robot is implemented.By the new coordinate frame convention and modified D-H parameter,the work space simulation and verification of 7-DOF arm and dual-arm rehabilitation is accomplished.3.Roberson-Wittenburg method(abbreviation R-W method)is introduced,due to the defects of Newton-Euler method for dynamic analysis of dual-arm rehabilitation robot.Through the description of the robot's structure by directed graph,the dynamic relationship between each link of robot and the output torque expression of each joint is described by the principle of virtual power.The program design of the dynamic model is given,including the input module,the calculation module,and the calculation method of the functional parameters of the output module.Therefore,it is convenient to programmed realization of dual-arm robot dynamic analysis,and it can effectively improve the computational efficiency.4.The trajectory planning of any curve in space is made by Bézier curve and the connection condition and boundary condition of segmental Bézier curve is derived.The terminal curve of dual-arm robot trajectory planning satisfied the function relationship and spatial position relationship is derived by function representation and graphical representation.The trajectory of one arm movement is deduced by the other arm movement known.5.According to the whole body control,the whole body Jacobian matrix is given and the continuous path planning method for robot is established.The generalized inverse matrix of whole body Jacobian matrix is deduced by block matrix calculation method,and the analysis and comparison of the complexity are given which the generalized inverse matrix is derived by direct calculation and block calculation.6.The point-to-point path trajectory planning of robot is researched by rapid random tree algorithm.Considering the defect of RRT algorithm,Bi-RRT algorithm and F-R RRT algorithm,based on gradient projection method bi-direction rapid random tree algorithm is proposed.