Research On Motion Planning Method For Dual-arm Cooperative Manipulation

With the development of the robotics and the expansion of the application field,due to its great limitations of application in fixed scene,the single robot can not meet the needs of the latest trends of intelligent machining factory.Therefore,the dual-arm cooperation system has the advantages of strong load capacity,high work efficiency and large workspace,which has attracted wide attention of research ers at home and abroad.However,the coordination control of the dual-arm cooperation system is very difficult.How to keep the coordination between two arms in the execution of tasks is the core issue in coordinated control.This paper focuses on the motion planning method for the dual-arm cooperative manipulation,the research are as follows:First of all,the kinematics model of single arm is established.In order to solve the problem of excessive consumption of computing resources by the inverse operation of matrix inversion in the inverse kinematics solution,the solution process is simplified by the combination of geometric method and analytic method.In view of the shortcomings of the existing calibration algorithm,a calibration algorithm for the base frame suitable for industrial site is designed.The algorithm is calibrated by building a spatial public target coordinate system,and the method of point taking is improved and the solution process is simplified.The effectiveness of the algorithm is verified by MATLAB simulation.Moreover,on the basis of the single arm kinematics and the calibration algorithm of the base frame,the kinematics analysis is carried out for the dual-arm pine coordinated motion and tight coordination motion,which provides the basis for the research of the dual-arm motion planning method.A collision detection algorithm for dual-arm coordination system is proposed in this paper,which is based on the bounding technology and the hierarchical decomposition technique,aiming at the possibility of collision in the process of coordinated motion and the safety and reliability of the arms.In the meantime,the RRT algorithm is studied.In view of the shortcomings of the traditional RRT algorithm,which has large blindness,low convergence efficiency and too many turning times,a improved RRT algorithm is proposed.And based on the improved RRT algorithm and collision detection algorithm,a motion planning method is proposed for the dual arm pine coordinated motion process,and its effectiveness is verified by simulation in VREP.A motion planning method is proposed for the tight coordinated motion of the dual-arm,which including two parts: path planning and trajectory planning.At the same time,for the requirement of the motion stability,the traditional S speed planning algorithm is improved and applied to the Cartesian space location planning.Furthermore,the five-order spline curve is applied to the posture planning process based on the unit quaternion,and the high order continuity of the attitude curve is realized.The effectiveness of the tightly coordinated motion planning method is verified by VREP simulation.Finally,a experimental platform of the dual-arm cooperation system is built,and the experimentation of the base frame calibration,the pine coordinated motion of dual-arm cooperative manipulation and tight coordination motion of dual-arm cooperative manipulation are carried out.The experimental results show that the algorithm propsed in this paper is effective and can achieve the accuracy,stability and synchronism of the coordinated motion,and there is no collision during the movement.