Research On Kinematics And Coordinated Operation Of Service Robot 6R Dual Arms

With the introduction and implementation of "Made in China 2025",the development of robotics technology is very rapid in China.The service robot dual arms have been gradually become a research hotpot and received extensive attention.In practical,kinematics,coordinated manipulation and collision-free trajectory planning of robot dual arms were very important,and collision avoidance of robot dual arms was a challenging issue.Therefore,in this paper,the kinematics,coordinated operation and collision avoidance of the robot dual arms were studied in depth,and the proposed algorithm was verified by simulation experiments.The main contents of this paper include kinematics modeling and inverse kinematics analysis,cooperation space analysis and Simulation,coordination operation flexibility analysis,and collision-free trajectory planning of robot dual arms.The main work of this paper was as follows:(1)The aim of this chapter was to study the kinematics modeling and analysis of service robot 6R dual arms.Firstly,the three-dimensional model of the service robot was drawn according to the overall structure of the existing service robot,and the kinematics model of the two arms were established by the standard DH method,and the kinematics equation was derived.Then,the inverse kinematics equation of the manipulator was solved by the combination of geometric method and coordinate projection method,and the Jacobean matrix of the manipulator was solved by the vector product method.Finally,based on the software platform of MATLAB,the kinematics simulation platform of the two arms was built,and the manipulator was transformed into data and imported into the simulation platform.(2)The aim of this chapter was to study the cooperative space analysis and simulation of service robot 6R dual arms.Firstly,according to the kinematics research of dual arms,the workspace distribution of each arm's wrist was calculated and analyzed.Then the cooperative space of the two arms was obtained by traversing the search-comparison algorithm.Finally,according to the inverse kinematics,the range of each joint angle of the two arms in the cooperative space was solved,and the simulation was carried out by MATLAB.(3)The aim of this chapter was to study the coordination operation and flexibility analysis of service robot 6R dual arms.Firstly,loose coordination and tight coordination were studied.Secondly,the flexible index of tight coordination operation was analyzed.Finally,through the proposed flexibility index,the singularity and flexibility distribution of the two arms in their cooperative space were studied,and the simulation was carried out based on MATALB.(4)The aim of this chapter was to research on collision-free trajectory planning of service robot 6R dual arms.Dual-arm collision avoidance planning mainly involved four aspects: end-effector collision avoidance(EECA),link-level collision avoidance(LLCA),self-collision avoidance(SCA)and robot-to-robot collision avoidance(RRCA).In this paper,EECA and RRCA were mainly studied and analyzed.Firstly,polyhedron was used to represent the space geometry of two arms,and the time-varying C-space of the manipulator was established.Firstly,convex polyhedron was used to represent the space geometry of the two arms,and the time-varying C-space of the manipulator was established.Then,collision avoidance between two arms was carried out by pseudo metric distance function method.Then,RRT algorithm was used to pre-plan the obstacle avoidance trajectory of the left arm,and RRT algorithm and pseudo-distance function method were combined to plan the trajectory of the right arm.Finally,the collision-free trajectory planning of two arms was carried out in the simulation environment of MATLAB,and two smooth trajectories were obtained.The effectiveness of the pseudo metric distance function method and RRT algorithm was verified.In this paper,the related research will be helpful to the follow-up study of the dynamics of the dual arms,and has a positive academic significance and important practical significance in the application field of service robots.