Research On Trajectory Planning And Double-arm Cooperation Based On Desktop Manipulator

As service robots are more and more widely used in the fields of family life,leisure and entertainment,helping the elderly and the disabled,service robots have become a hot field in the direction of robot research.The desktop robots studied in this paper are mainly oriented to the application scenarios of a small working space,and use low-cost desktop robots instead of industrial-grade robots to operate small-volume operating objects,so as to achieve the purpose of reducing costs;at the same time,two desktop robots can also be used.The dual-arm manipulator performs cooperative operations to complete complex tasks.Therefore,this paper will take the arms of the desktop manipulator as the research object,establish a model and perform kinematic analysis on it,and at the same time solve the dual-arm workspace on the basis of kinematics,provide a theoretical basis for trajectory planning and dual-arm collaboration in the subsequent workspace.The main research contents are:1.Introduce and select the hardware required to build the entire desktop robotic experimental platform.Under the premise of meeting the precision of the desktop robot,select the digital servos of the model KS-3527 and KS-3518 as the drive motor of each joint,and according to the experiment The platform's requirements for chip peripheral resources,select STM32F429IGT6 as the control part of the entire experimental platform.In the design of the hardware module,the power module part of the entire control system is introduced,the system power is reasonably distributed,and the power supply module of the steering gear and the driving module of the steering gear are explained.The pin connection between the control chip and each hardware part will be explained.2.First,establish the kinematics model of a single desktop manipulator,and obtain the DH parameters of the desktop manipulator through actual measurement,so that the forward kinematics analysis of the desktop manipulator can be performed according to the link coordinate system established by the DH parameters,and then the inverse kinematics is performed by the inverse transformation method Solve to get the angle value of each joint;at the same time,simulate and verify the results of positive kinematics through MATLAB.Finally,according to the calibration principle of the dual-arm base coordinate system,a calibration method of the dual-arm base coordinate system is introduced,and the robot isdesigned by The assistant software records the angle values of the joint angles of the robot arm during the calibration of the two arms.3.The Monte Carlo method is used to obtain the point cloud image of the dual-arm working space of the desktop robot,and the working space is layered along the Z axis and the working points of each layer are projected onto the middle plane,and the work is extracted by the angle division method.The boundary points of each layer in the space,and the fourteenth degree polynomial function constructed by the least square method are used to fit the boundary curve of the extracted boundary points.For the joint space of the desktop manipulator,quintic polynomial interpolation is used to analyze the angular displacement,velocity and acceleration motion curve of each joint,and then the multi-section interpolation function is used to plan the motion trajectory of the different stages of the motion in the desktop manipulator working space,and through The quaternion method interpolates the posture of the end of the desktop manipulator.4.Analyze the relative posture relationship of the end of the two arms of the desktop manipulator when grasping in a fixed posture,and solve the end posture matrix.Then,the simultaneous transfer and simultaneous transfer tasks of the two arms are not analyzed at the same time.Under the premise of the given start and end positions,the double arm cooperative transfer experiment is completed through position control,and the actual values of the joints of the robot arm during the experiment The curve and the expected value curve,combined with the change of the movement trajectory of the end of the desktop robot in each axis direction and the error curve of the end during the movement,analyze the causes of the error.