Research On The Motion Analysis And Control Method Of The Double Arm Robot In The Transport Operation

The existing single arm robot in industrial production has been widely used,but in the application of single arm robot cannot completely adapt to the complex working environment and tasks,humanoid dual arm robot has broader,better cooperation ability,in the industrial production line,has a broad application prospect of social service and aerospace in.As the key technology of redundant dual arm robot system,the coordinated motion analysis and coordinated control of two arms are the hot topics in the field of robotics.This topic combines the application of spinor theory in robot field,o nline trajectory planning method and impedance network idea,focusing on the impedance control,trajectory generation,location and coordination load allocation of dual arm robot in coordinated handling.This paper first introduces the traditional method o f robot modeling.At the same time,it puts forward the basic concept of screw theory,and expounds the application of screw theory in robotics.The kinematics,inverse kinematics and dynamic model of a motoman-SDA20 redundant double arm robot are analyzed based on the screw theory.Based on the theory of screw theory,we improve the modeling method: establish the exponential product modeling of the manipulator,analyze the implementation of posture separation and inverse kinematics,and reconstruct Newton Euler dynamic modeling method with the form of screw.In order to solve the problem of real-time trajectory planning and motion coordination of two arm robots,the online trajectory planning method is studied.First,the common B term difference method is enumerated,and then the basic concept of fast online trajectory planning generation method is put forward.Based on the theory of online trajectory planning,the motion condition is decomposed into fixed motion modes according to initial constraints,term inal constraints and maximum constraints.According to the calculation parameters of different modes,the specified parameters are solved,and finally the optimal trajectory is generated.Then studied the mechanical arm impedance control algorithm,realize the basic mechanical arm impedance control,through the analysis and control problem of coordinated motion problem in cooperative arms,to control the handling process of the movement and force coordination coordination arms,an impedance control model in two impedance relationship become more extended impedance relationship the model,using the finite element theory in the calculation method for multi point impedance model,using force and motion coordination model to solve the problem of this coordinated movement,realize the flexibility and reliability of handling arms control.Finally,the vrep simulation software is used to build the dual arm coordination handling simulation,and the rationality of the dual arm coordination operation method is demonstrated through the simulation.In conclusion,the redundant manipulator control arms coordination control put forward a set of methods,and verify the effectiveness of these methods from the angle of simulation and experiment,and provides a new reference fo r the research on basic methods of operation and control arms coordination current,and provide a new thinking for the mechanical arm motion control engineering realization.