The Design Of The Control System And The Research Of The Control Method For A Redundant Dual-arm Robot

With the rapid development of equipment manufacturing industry in recent years,the demand for robot to realize precise assembly becomes more and more important.the traditional non-redundant industrial mechanical arm can't meet the request of production and often cause the failure of assembly and even damage the assembly parts,because they can't avoid singularity and difficult to avoid obstacles.In order to expand the application field of mechanical arms,the paper has developed a robot arm with redundant degrees of freedom,the end executor of the robot can guarantee position unchanged while avoiding the obstacles,singularity,and the joint limits,which have extremely strong operation ability and openness,and it can adapt to the changes of the market and the technical requirements.First of all,this paper introduced the research background and the research status of the dual-arm robot at home and abroad,and then analysis the status of the current research and the control strategy of the dual-arm robot.Secondly,this paper finished the modeling analysis of the dual-arm robot.The kinematics and dynamics model of the dual-arm robot is established on D-H method,proposed an algorithm to solve the inverse solution based on an energy optimal rule.The working space of the dual-arm robot is calculated,the peg-in-hole assembly model is designed,the constraint relationship and the trajectory planning in multi-space are completed.Thirdly,this paper analyzed and designed the control system of the dual-arm robot,proposed a hierarchical control strategy of the dual-arm robot which divided the automation control system into the session layer,designed layer and the physical layer.This paper completed the planning of the control process and the overall design.At the same time,this paper introduced the sensor system of the dual-arm robot,and proposed a multi-level communication structure based on the three layers control architecture high-speed bus.Fourthly,this paper analyzed and designed the software systems of the dual-arm robot which divided the control process into real-time and non-real-time tasks.And then,this paper completed the loading of the RTAI real-time nuclear,proposed the trajectory planning method and double-timing data transceiver strategy based on the multi-thread environment with RTAI real-time kernel.Using the development environment,this paper completed the program design of the creation and exit under the RTAI multi-thread environment,the program design of the Socket network communication based on Modbus-TCP protocol,the program design of the CAN-bus network communication based on CANopen protocol.The peg-in-hole assembly based on neural network was studied and the simulation was carried out.Finally,this paper designed the assembly production line and the two modules of the lamp,planned the process of the lamp assembly task,established a standard test platform to test the positional accuracy,repeated accuracy and reliability of the dual-arm robot during the process of the peg-in-hole assemble,and finished the test of load grab,the test of hand-eye calibration and the test of peg-in-hole assemble.