Research On Dual-arm Robot Control System Based On Virtual Prototype

In recent years,redundant dual-arm robots have become a frontier issue in the field of robots.Dual-arm robots have received more and more research attention and have been widely used in life services,military security,manufacturing production,and exploration of outer space and other fields to their strong collaboration capabilities and high flexibility.With the increasingly complex requirements on the robot's operation tasks and environment,the effective dual-arm coordination control of the robot becomes a key problem that needs to be solved.In view of the above-mentioned key issues,this project studied the control system of a dual-arm robot based on a virtual prototype.Based on the theoretical modeling,the inverse kinematics of the redundant manipulator was studied at the speed level,and an object-oriented dual-arm coordination control algorithm was proposed.The algorithm was verified by combining the virtual prototype with the actual robot.This paper mainly completed the following works.This paper first analyzes the forward kinematics of redundant manipulator using D-H parameter method.To solve the problem of solving the inverse kinematics exact solution of redundant manipulators under real-time conditions,the gradient projection method is used to obtain the optimized inverse kinematics initial solution at the velocity level,then a joint of the robot arm is fixed and Newton-Raphson iteration method is used to obtain an approximate inverse kinematics exact solution.The Newton-Euler method was used to model the dynamics of the manipulator,which laid the theoretical foundation for follow-up study.Then for the dual-arm coordination control problem under the tight coordination constraints,combined with the object-oriented coordination control concept,the coordinated operation control space of the dual-arm robot system is defined,and an object-oriented dual-arm robot system coordinated control method was designed.Combined with the inverse kinematics of the robotic arm,the coordination obstacle avoidance algorithm of the dual-arm robot is designed.In the end,we use a humanoid robot as the research body.Based on ROS and Windows system,the robot's virtual prototype control platform was built and across-system communication program was designed.And then based on the virtual prototype and the actual robot,the dual-arm coordination handling,coordination obstacle avoidance and robot real-time control experiments based on the virtual prototype are designed,the correctness of the algorithm and the effectiveness of the system are verified.