Research On Key Technology Of Dual-arm Coordinated Operation Of Service Robot

With the proposal of Made in China 2025,the domestic robot industry has developed more rapidly.The related research on service robots has been widely concerned.The research on dual-arm service robot is becoming hotspot in the robot industry.Compared with the single-arm robot,it has better collaborative capabilities and wider application scenarios.Therefore,the research on the forward and reverse kinematics of the dual-arm service robot,collaborative space analysis,dual-arm cooperative trajectory planning becomes particularly important in practical applications.This article takes the dual-arm service robot that is designed and developed by the laboratory as the research object and conducts research on the above problems.The main contents of the paper include the system composition of the dual-arm service robot,the solution and analysis of forward and reverse kinematics,the collaborative space analysis and the optimization of parameters and the trajectory planning of dual-arm robot.The main contents are as follows:(1)The composition of the dual-arm service robot.(2)Kinematics analysis and solution.Combined with the D-H parameters of the dual-arm robot,the kinematics model was established,and the forward kinematics equation was derived.At the same time,the algebraic method is used to solve the inverse kinematics equation of the robot.(3)Collaborative space analysis and parameter optimization.To solve this problem,according to the forward kinematics equation,combined with the Monte Carlo method to get the working space of the dual-arm,at the same time set the common area as collaborative space.The number of cloud points in the collaborative space is used to quantify the size of the collaborative space.With the largest collaborative space as the optimized goal,the optimal parameters of the robot are solved.(4)Trajectory planning of dual-arm robot.The trajectory planning of single-arm robot in joint space and Cartesian space is analyzed.In the master-slave control mode,when the speed of master arm is set,the slave arm speed is reversed.Finally the motion control of coordinated operation is studied.(5)The experiment of coordinating the handling of rigid bodies.During this process,the task that the robot needs to complete is specified,and the motion command is sent to the robot arm.The laser tracker is used to measure the origin of the robot's end coordinate system.Finally the difference between actual and theoretical data is analyzed.The research work done in this paper will pave the way for the subsequent research on the dynamics,collision detection of dual-arm service robot and it has important academic significance for the research of dual-arm service robots.