Reserch On Analysis And Simulation Of Kinematics For Daual-robot Cooperation

Collaborative multi-robot system is a hot research in recent years, which isprospective in the future. Related researches are urgently needed now. The paper, first,introduces the current research works and achievements on coordinated control of multirobots in the introduction section, and the multi-robot motion control methods aredescribed, which leads to the main content of this paper. In order to provide a theoreticalbasis for subsequent simulation and algorithm, forward and inverse kinematics of robot isanalyzed in detail.Secondly, this paper sets up a co-simulation platform, which using the robotkinematics algorithm procedures as a control model. Co-simulation using industrial robotMOTOMAN UP6with six DOF which can grab any object in operation space werefinished, which proves the correctness of the robot kinematics algorithm and the intuitiveeffectiveness of the co-simulation. The article also provides a fast path planning methodfor robot, using the method the robot trajectory planning can be achieved withoutdeducing kinematics algorithm.Thirdly, based on the relative relation of the attitude of dual industrial robot incollaboration, the constraint relation of trajectory is analyzed; specific derivationalgorithm formula is explained for dual collaboration. The robot toolbox in Matlab isused here to research two different corporation methods; the result demonstrated therightness and feasibility of algorithm.Finally,3D modeling software is used to model the dual robot system, whicharchived the kinematic simulation of carrying object and drawing a circle using dualrobot corporation. The two6-DOF robots MOTOMAN UP6are used to demonstrate the mission of drawing a circle together.