Research On Application Of Redundant Dual-arm Robot In Industrial Sewing Process

Traditional industrial al sewing processes are mostly done manually,but with the increase in labor costs,the need for automation in the sewing industry is even more urgent in the industrial sewing industry.Redundant dual-arm cooprertive robots can work well with people and replace humans with monotonous and repetitive tasks.Compared with the traditional six-degrees-of-freedom single-arm industrial robot,it can use its redundancy to better avoid obstacles and avoid the robot singularity.The introduction of such robots into the industrial sewing process can reduce production costs,especially labor costs,and greatly increase production efficiency.This paper uses an ABB YuMi redundant dual-arm robot as the object of application research.Machine vision is used to identify target points on flexible materals,and visual guided robots are used to complete operations on flexible materials.The kinematics analysis of the redundant dual-arm robot is performed by cstablishing the D-H coordinate system.and the inverse kinematics analysis of the redundant dual-arm robot is performed by the gradient projection method.Analyze the position and speed constraints when the dual-arm robot is in tight coordination.and obtain the trajectory of the master and slave manipulators during tightly coordinated operdtion.The Monte Carlo mcthod was used to obtain a collaborative workspace for the two-armed robot.The industrial camera is placed outside the robot and the hand-eye calibration of the machine vision is completed based on the Eye-to-Hand mode.The Labview program is compiled to realize image acquisition,processing and communication between the robot and the sctver?and the obtained target point data information is transmitted through TCP/IP.The robot is communicated to the robot with the Scoket communicution method.The robot uses the acquired target point information to complete the operation of the flexible seam matcrial,...