Research On Coordinated Operation And Compliance Control Methods Of Dual-arm Cooperative Robots

With the advancement of modern social civilization and the development of science and technology,robots continue to expand in areas such as industrial production,health care and social services.The operating environment and task requirements are more specialized,complicated,and diversified.The task and environmental adaptability of single-arm robot is obviously insufficient,and the limitations are becoming more and more prominent.People begin to use two or more robots in order to realize the functions that are difficult or even impossible for a single-arm robot,and how to effectively control arms and cooperate with each other to perform operational tasks is critical.In this dissertation,a dual-arm cooperative robot is taken as the research object,and the kinematics modeling,dynamics modeling,coordinated operation motion planning and compliance control are mainly studied in order to improve the ability of dual-arm cooperative robots to perform coordinated operation tasks.The main research work is as follows:First,the kinematics and dynamics model of a dual-arm cooperative robot was established.For the dual-arm cooperative robot,taking the left arm as the experimental object,the DH coordinate method is used to establish the positive kinematics model of the robot,the numerical Monte Carlo method is used to analyze the robot's dual-arm working space,and the Newton-Raphson iterative method is used to solve the inverse kinematics problem of the robot.Using the singular robust inverse solves the jacobian matrix singularity problem.At the same time,using Newton Euler's recursive method to derive the dynamic solution algorithm,the dynamic model of the robot is established.Secondly,the motion planning method of dual-arm robot coordination operation is studied.The master-slave mode is used to work between the two arms.Based on the trajectory planning and kinematics model of the single-arm robot,the motion constraint relationship between the two arms is analyzed and the closed-chain kinematic model is established to ensure that the slave arm follows the movement of the master arm.In addition,the common bounding box model is analyzed,and the robot ellipsoid bounding box model of each robot is constructed for collision avoidance planning to ensure that the two arms doing coordinated operation without conflict.What's more,a flexible control method for the coordinated operation of dual-arm robots was studied.Based on the dynamic model of two-arm cooperative robots,the dynamic constraints of two-arm coordination operation are analyzed.The master-slave hybrid position/force control method was adopted.Position control law and force control law were designed separately.The control of the arm end force was increased on the basis of the master-slave arm motion tracking,and the compliant control effect of the dual-arm robot coordinated operation was improved.Finally,the software and hardware platform of dual-arm cooperation robot is introduced.Three-dimensional visualization experiment platform and physics experiment platform are set up respectively.The related task experiments are designed according to the research content of the subject.After the simulation verification,the physics experiment of the coordination operation task is performed.The data of the arms during the experiment were collected and analyzed to verify the correctness and effectiveness of the proposed method.