Research On Path Planning Of Cooperative Control For Dual Manipulators

In 1961,the first robot came out in America.The development of the robot is extremely rapid.Robots have vigorously promoted the progress of science and the development of social,is gradually changing people's work and way of life,but also for the human to create a huge wealth.The manipulators as a kind of robot,they replace the person to complete the handling,welding and so on,can be engaged in heavy,dangerous work.And greatly improve the efficiency of labor production,reducing production costs.For some special and complicated operations,the dual-manipulators can be controlled by mutual cooperation to complete a single manipulator can not complete the operation.In this paper,the six-degree-of-freedom manipulator is used as the research object,and the cooperative planning of the dual-manipulators are studied by the cooperative control between the dual manipulators.Firstly,the establishment of dual-arm kinematics model.The D-H method was used to establish the kinematics model of Reinovo manipulators in our lab.As the two manipulators in the laboratory are the same type,the kinematic model of the other manipulator is completed by analogy.The kinematics model of the dual manipulators is calibrated by the coordinate system.Secondly,the study of two manipulators reach space and cooperation space.The dual-manipulator model is simulated by the D-H method in the Matlab Robotic Toolbox.Based on the range of the rotation of each joint,the Monte Carlo method is used to obtain the space of the dual manipulators.And obtains the reach space and cooperation space of the manipulators by mathematical expression.Finally,the cooperative programming path planning method of dual manipulator is studied.Based on the cooperative control of the double-six-degree-of-freedom manipulator,the path planning method of the double-arm cooperative pouring task is simulated by the linear interpolation,the fifth-order polynomial interpolation,the grid method and the artificial potential field method.Through the comparison of the advantages and disadvantages,the paper uses the method of linear interpolation and artificial potential field method to carry out the task planning of pouring task.