Research On Coordination Technology Of Dual Arm Robot Simulation Based On MATLAB And ADAMS

With the development of science and technology, industrial robots have been used more and more widely. Compared with the traditional one arm robot, the dual arm robot has more advantages than the traditional one. It can not only replace the tedious work of human beings, but also can be used in the harsh environment. However, the coordination of the dual arm is the key content of the current research, including the dual arm path planning, collision avoidance and flexibility coordination between the arms. The technology of dual arm coordination is the key technology and difficulty of robot control, which is a continuous trajectory control technology which is used to avoid the collision between the object and the two mechanical aim.In this paper, the MATLAB and ADAMS software are used to simulate the movement of the coordinated motion algorithm. The controller is equivalent to the Matlab software simulation of dual arm robot, kinematics and trajectory planning simulation using Robotic Toolbox toolbox on the arms of the robot arms, simulation of coordinated motion end in space trajectory, and the establishment of the mechanical structure of arms in ADAMS software, simulate the movement process. The main contents of this paper include the kinematics analysis of the arms, the motion planning of the aims, the control algorithm of the two arms and the simulation of the coordination algorithm.The main research contents are as follows:(1) The Dual-arm Robot System: It has a systematic introduction about the hardware system and software system of dual-arm introduced the dual-arm system. The paper provided a modular joint design by SolidWorks, and in the arms of software system CODESYS software has been part of the control mechanism, and laid the foundation for critical technology on coordination control of dual-arm robot.(2) The kinematics of the two arms is based on the single arm kinematics,and the kinematics of the arm is discussed on the basis of the study of the single aim kinematics and inverse kinematics. According to the D-H parameters, the kinematics model of six degrees of freedom is established. Based on this, the transformation matrix and the kinematics equations of the two arms are obtained.(3) On the basis of the traditional artificial potential field method, this paper discusses the problem of self avoiding collision. In the static environment, the left arm is relative to the right arm, and the bounding box method is used as the obstacle point to realize the collision free path planning from the joint point to the target point.(4) MATLAB and ADAMS are used to simulate the obstacle avoidance process. In the ADAMS environment, according to the kinematics model and mechanism parameters of the UR5 robot, the virtual physical model of UR5 robot is established. According to the task description, to realize the control of manipulator using MATLAB output angle parameters to the true model in ADAMS Adams, according to the specified parameters, can observe the actual state of motion model and end joint trajectory map.