Construction And Research Of Dual Robotic Arms Cooperation System Based On Vision Sensor

As an important branch of robotics,the development of service robot s has received high attention from high-tech industry and research institutions worldwide.Nowadays,the dual-arm cooperation technology is not so mature and stable that there are only a few developed service robots that can realize the cooperation of two arms.The robots with workable dual-arm are only used in research and has a long way to go before low-cost,commercialization and popularization.With the increasing aging of the population and labor cost,the demand of dual-arm service robots in home,hospital,shopping mall,service place and dangerous environment is growing rapidly.This brings a higher requirement for the dual arm coordination technology.To develope a stable and reliable dual arm coordination system is an urgent problem to be solved.In this dissertation,based on the open source operating system ROS platform and computer vision library Open CV,a vision sensor-based dual arm coordination system for home service is constructed with two sets of Jaco robot arms and different vision sensors as comparison schemes.Visual measurement algorithm,image processing algorithm and two-arm cooperative control algorithm are studied in depth.The kinematics model of 6-DOF manipulator without closed inverse solution is constructed by DH method,and its inverse kinematics equation is obtained by Newton iteration method.In order to realize the object recognition and accurate positioning based on vision sensor,the main method of vision measurement is used to finish the accurate calibration of Xtion and ZED vision sensors.A simple model of operation objects based on several reasonable assumptions and approximations is proposed.A contour and corner recognition algorithm for irregular objects in RGB images is designed.Based on the dual-arm cooperation task,the straight-line trajectory planning of the Jaco manipulator's end gripper is carried out.Based on the master-slave arms cooperation control strategy,the closed-chain kinematics model of the arms is established.Position and attitude constraint quation,velocity constraint equation and acceleration constraint equation are obtained.Based on the ROS system and Open CV library,a modular,open-source software platform is designed.Through the cooperative experiment of two arms,we successfully fold the towel on the experimental platform and get a good result.The established requirements of the project are finished and the rationality and validity of the whole research method are verified.