Research On Coordinated Operation Method Of Anthropomorphic Dual-arm Robot Based On Master-slaver Planning And Arm Motion Control

The anthropomorphic dual-arm robot has a structure similar to a human arm.They have more degrees of freedom,which not only endows robots with powerful working ability,but also brings a lot of research difficulties.First of all,there should be good coordination between the dual-arm,so that complex tasks can be successfully completed.Secondly,there have flexible and complex operation capabilities,expecting to be able to predict and control the arm motion.Aiming at the above two issues,this thesis studies the dual-arm coordinated operation and arm motion control method of the anthropomorphic dual-arm robot.The main work of this thesis includes the following aspects:(1)Analysis of the corresponding relationship between anthropomorphic robot arm and human arm physiological structure,and the problem of consistency of motion was raised with practical examples.The characteristics of the traditional inverse method Trac-IK(numerical method)and ikfast(analytical method)are analyzed,as well as the problem that the manipulator motion cannot be controlled.(2)An inverse kinematic method MC-Inverse is proposed,which takes the arm angle as a redundant parameter.This method decomposes the inverse kinematics of the anthropomorphic manipulator into three sub-problems,and can control the arm motion while calculating the inverse solution of the anthropomorphic manipulator.In the joint space,an evaluation index of arm motion control is proposed based on the smoothness of the joint trajectory,the energy consumption,and the consistency of the arm motion during repeated repetitions.According to the evaluation index,the method and the traditional inverse solution method is compared with the experiment.The experimental results show that the method in this thesis not only has good performance,but also can effectively control the arm motion of the anthropomorphic manipulator.(3)Taking the scene of dual arm coordinated carrying object,improves the traditional method of dual arm coordinated operation based on master-slaver planning.Planning a path according to the constraint relationship of the end of dual-arm,uses MC-Inverse method to solve the joint angle of dual-arm,and then calculates the velocities and accelerations according to the time optimal algorithm.Finally,the simulation results show that this method is more efficient than the traditional method,and it also solves the problems of arm jitter and movement time synchronization.(4)Finally,the evaluation indexes are set in joint space and Cartesian space respectively.The evaluation index of Cartesian space is mainly used to evaluate the position,velocity and acceleration of the end of the dual-arm,while the evaluation index of joint space is used to evaluate the arm motion of in single and multiple trajectories,and establish the experimental scene to test the performance of the method in this thesis.The experimental results show that the method meets the evaluation index and has better effect.