Research On Coordinated Motion Planning Of Dual-arm Robot

With the increasing demand for automation and intelligence in processing tasks,the single-arm robot cannot meet the requirements of complex production and processing because of its own limitations.The dual-arm robot has higher flexibility and better adaptability,and it can adapt to complex and changeable tasks.Therefore,dual-arm robot has been widely applied in the occasions of precision assembly and transportation of heavy objects,which has become one of the most popular topics in robotics research.The dual-arm robot is not a simple combination of two single-arm robots,but has strict motion constraint relationships between two arms.What's more,the difficulty of the research is using two-arm coordination to complete the specified task without collision.This paper has made an intensive study on the coordinated motion planning of dual-arm robots and has mainly completed the following tasks.In this paper,a self-designed 6-DOF dual-arm robot is taken as the research object.The D-H parameter modeling method was used to establish the coordinate system and determined the D-H parameters.The equations of the forward and inverse kinematics of dual-arm robot were obtained.The coordinated operation mode of dual arm robot is divided into independent operation mode,partially constrained operation mode and full constraint operation mode.For these three modes of operation,the position and speed constraints between the objects being transported,between the arms and the objects being transported,and between the arms are deduced.A force or position hybrid control method based on master-slave dual arms is proposed,which solves the shortcomings of traditional coordinated control method.The master arm trajectory is preestablish by using master-slave working mode.According to the coordinated motion constraint relation of different operation modes,the pose of slave arm is deduced in real time.Using the MATLAB Robotics Toolbox,the trajectory planning simulation was performed on the dual-arm robots in joint space and Cartesian space respectively.The corresponding change curves were plotted by using toolbox.A collision detection method based on simplified geometry is proposed for the collision between two arms of a robot.The correctness of collision detection algorithm is verified by programming with MATLAB.A two-arm coordinated motion planning method was proposed,and the method was used to verify the method using the coordinated handling operations.The dynamics of dual-arm robot is studied.The dynamics equation of robot is derived by Lagrange's method.The coordinated simulation of dual arm coordinated handling and shaft hole assembly operation is carried out by using ADAMS software and MATLAB software.By combining the virtual prototyping technology with the control system simulation technology,the kinematics,dynamics and control system performance of the dual-arm robot are analyzed in a more comprehensive way.