Research Of Method On Arm Robot Coordinated Control

Factories are facing the dilemma of job tasks increasingly complex and higher and higher precision operational tasks. Therefore, factories robot arms assignments has been more and more widely used. Compared with single arm robot, factories robot arms has wide application range, and strong coordination ability, higher reliability, better flexibility and other unique advantages, which can qualify complex operational tasks. As factories robot arms assignments for key technologies, arms coordination control operation has become one of hotspots in the field of robotics research. This article mainly revolves of study on the key issues around the method of the arms robot coordinated operation, arms collision detection, calibration of mechanical arms system, mechanical arms motion planning, simulation of typical operational tasks and so on.Firstly, In this paper, setting up the kinematic model of the factories robot arms, which revolves of study on kinematic.3-D model of dual-arm assignment robot is built according to the SOLID WORKS. On the base of it, D-H method is used to establish a single manipulator arm robot kinematics model to kinematic calculation. In the kinematic model object, simulation use Adams software and MATLAB mathematical software in order to verify the accuracy of kinematic modeling. In the last, dual-arm assignment robot is calibrated.Secondly, this paper aimed at collision detection when the robot arms will come cross the collision problem in the process of running, simplifying the robot, establishing a simplified geometry model, theoretical calculation, and the simulation experiment.Then, aimed at the robot arms optimal path problem in the work space, this paper uses a method based on genetic algorithm to the optimal path trajectory planning, according to its arms in the coordinated operation of the robot’s main performance index, designing suitable objective function, adopting the Pareto optimal solutions to select a set of optimal solution, though planning out one optimal path of dual-arm assignment robot in work space, in order to realize the coordinated operation arms robot smoothly finishing task.Finally, this paper verifies the accuracy of coordinated control method which is proposed previously. Research the typical arm coordination of operational tasks, such as handling, Jack control strategy and simulate. Simulation results show that the design of arms robot coordinated control method is reasonable and, theoretically, could meet the requirement of coordination tasks.