Research On The Coordination Control Methods Of Redundant Dual-arm Robots

As the dual-arm robot is widely used in all social fields,the redundant dual-arm robot has become a research focus all the world.The technology of coordination manipulation methods for redundant dual-arm robot is an important research branch of dual-arm robot and this thesis mainly focus on the researches of redundant dual-arm coordination collision avoidance and handling in the process of coordination action.Firstly,in this paper,the kinematics and dynamics theories of redundant arm are analyzed.According to the structure and size of MOTOMAN-SDA10 redundant dual-arm robot,the kinematics model is built.The work of singular configuration avoidance and joint limit avoidance optimization is done by using the features of redundant arm as well.Aimed at reducing the error generated in the simulation system,a closed-loop control system is built.Moreover,the dynamics characteristic of redundant arm is analyzed and the dynamic equation is built.Secondly,in order to avoid the collision in the process of coordinated action and collaboration between robot and human,the dual-arm coordination collision avoidance and man-machine collaboration optimization are done by using the redundancy feature of the robot and the principle of maximum distance method.To make up the shortcomings of the traditional principle of maximum distance method,the distances between the connecting rods are calculated,and a new method for determining the distance index is put forward.In addition,this paper proposes a new method of man-machine collision avoidance using the improved method of collision avoidance which can increase the ability of dual-arm robot while working with human.Thirdly,in order to carry an object smoothly and response to the disturbance of the environment stably,a leader-follower control method based on the principle of impedance is established.Besides for the purpose of overcoming the disadvantage of the traditional leader-follower control method which is not suitable for the flexible body in the process of handling,this article introduces the relative error between the dual-arm and define it as a virtual restoring force between two arms,then brings the restoring force in the impedance system of the dual-arm robot.Moreover,the statics and dynamics of the object are analyzed to show impedance characteristic of the object to the environment.Besides,the leader-follower constraint relationship between dual-arms is built by analyzing the physical constraints of the relationship between two arms.In the end,the method of coordinating handling by two arms is built which realizes handling smoothly.Finally,some simulation examples of typical coordinated tasks including the kinematics and dynamics of dual-arm robot,coordinated collision avoidance and grasping an object with redundant dual-arm robot are studied.The results verify the coordinated manipulation methods are well designed and reliably operated,and they can satisfy the requirements of coordinate tasks for redundant dual-arm robot.