Research On Trajectory Planning Of Redundant Dual-arm Industrial Robot

With the advancement of advanced technologies in mechanical,electronic,automation,computer and other disciplines,redundant dual-arm industrial robots,as an anthropomorphic robot with a high de gree of automation and intelligence,can meet the increasingly complex task tasks of industrial robots,task requirements and efficiency.The continuous development trend,so the traj ectory planning and coordination operation has become the focus of research,and it is of great significance to study the traj ectory planning of redundant dual-arm industrial robots.This paper studies the traj ectory planning problem of redundant dual-arm industrial robots.Based on the modeling of robot kinematics and dynamics theory,this paper proposes a multi-objective manipulator trajectory optimization algorithm aiming at time,energy and impact.The simulation experiment is carried out by combining the two-arm dynamic coordination shaft hole assembly algorithm.The correctness and effectiveness of the theoretical research are verified by establishing virtual prototype simulation.The main research contents of this paper are as follows:1 Based on Matlab Robotic Toolbox toolbox,the mechanical arm linkage model is established to verify the correctness of kinematics modeling.The fifth-order polynomial interpolation method is used to complete the traj ectory planning and simulation of the robot arm foundation in the toolbox;using Matlab Robotics System The Toolbox toolbox establishes the rigid-body model of the mechanical arm,and the inverse solution of the seven-deg ree-of-freedom manipulator is solved by the inverse solution algorithm in the toolbox.2 For the trajectory planning problem of the manipulator,the five-B-spline curve is used to establish the joint trajectory of the manipulator and the various guides,and a multi-objective optimization function aiming at time,energy and impact is established.Based on this,a multi-objective optimization function is established.The non-dominated sorting genetic algorithm(NSGA-?)performs multi-obj ective optimization on the manipulator,and selects the optimal solution in the Pareto solution set according to the fitness function.Compared with the time-optimal algorithm,the algorithm can reduce the exercise time.At the same time reduce its energy consumption and impact.3 For the coordinated operation problem of the two-arm system,the kinematics equation of the dynamic axial hole coordination assembly of the dual-arm robot is established,and the two-arm coordinated operation solution for the shaft hole assembly problem is proposed.The numerical simulation of each stage of the task is carried out in Matlab.Analysis,the coordinated operation traj ectory of the ends of the two arms is obtained.4 The 3D model of the redundant dual-arm industrial robot was established by SolidWorks,and imported into ADAMS to build the virtual prototype of the robot In the ADAMS,the virtual prototype was used to compare the theoretical model,optimization algorithm and coordinated operation algorithm of the robot.The multi-objective optimization of the coordinated operation trajectory is carried out,and the correctness and reliability of the theoretical model,the optimization algorithm and the coordinated operation algorithm are verified.