Research And Application Of Dual Manipulator Coordinated Assembly Trajectory Planning

In order to meet the needs of continuous improvement of task complexity,operation intelligence and system flexibility,the coordination and cooperative operation between two manipulator is one of the key technologies for manipulator to solve in industrial environment.Double manipulator in the execution of a task,often some additional constraints,such as along the specified path movement,which would be the trajectory of manipulator planning and trajectory planning directly affects the quality of manipulator,dual manipulator trajectory planning so the high efficiency is important the theoretical and practical value.Based on the current research status of cooperative trajectory planning for dual manipulator at home and abroad,two SCARA four degree of freedom robot manipulators are studied.First of all,the establishment of dual manipulator overall coordinate system,the kinematics equation is derived using the D-H parameters of dual manipulator,calculate kinematics equation,a dual manipulator model by MATALB Robotics toolbox of Toolbox,the modeling and Simulation of the manipulator using the linkage parameters and the angle parameters of the corresponding industrial manipulator the.The simulation results verify the reliability of the established dual manipulator kinematics equation and the 3D model based on Robotics Toolbox,and intuitively analyze the relationship between the pose of the end effector of the manipulator and the rotation angles of the joints.At the same time,Monte Carlo method is used to analyze the workspace of the dual manipulator,and the best collaborative working space of the manipulator's end effector is obtained,which provides a theoretical basis for the cooperative trajectory planning of the dual manipulator.Secondly,we introduce the definition of trajectory planning for dual manipulator and the difference between Cartesian space and joint coordinate space.We choose trajectoryplanning in joint space and construct the curve by five times B spline interpolation method.Choose the genetic algorithm to optimize the trajectory of the running time,the establishment of genetic algorithm to optimize the model,using MATLAB genetic algorithm toolbox in the conversion model for computer language points into a pre setting control parameters of genetic algorithm optimization of B spline trajectory type.In the MATLAB software environment,we use these value points to simulate the B spline joint space trajectory optimized by genetic algorithm.The simulation results verify the rationality and reliability of the trajectory planning for dual manipulator.Finally,a dual manipulator experimental platform is built.Its hardware and software consist of the basic specification and installation environment of YAMAHA YK400 XR manipulator,the requirements and functions of YAMAHA RCX340 controller,the interface and main functions of RCX-Studio software window.In order to verify the practicability of the bolt assembly trajectory planning,the experiment scheme and the experimental process are made and the experiment is carried out.The trajectory data of joints of dual manipulator were collected,and the joint angle curves of 1,2 and 4 joints and 5 joints of dual manipulator system were obtained,which verified the practicability of trajectory planning for dual manipulator.The integrity,accuracy and practicability of the dual manipulator cooperative assembly trajectory planning system studied in this paper are of practical value for other dual manipulator in other areas and fields.