Research On Control And Path Optimization Technology For Heterogeneous Parts Of Dual Manipulator Collaborative Polishing

With the upgrading of industrial structure and acceleration of product upgrades,more and more small batches of products have appeared.It is increasingly difficult to produce heterogeneous products using automated production lines.Aiming at the problems of poor flexibility and unsatisfactory effect in polishing heterogeneous parts with single manipulator,a dual manipulator coordinated polishing method was proposed and a set of dual manipulator collaborative polishing system was built.The specific research contents are as follows:(1)Kinematics analysis of dual manipulator.Firstly,the model of manipulator is established and the forward and inverse kinematics is solved.Then,the base coordinate system of the dual manipulator is calibrated,and a simple calibration method is proposed.(2)Research on collision detection algorithm of dual manipulator.In order to ensure the safety of the dual manipulator in the public activity space,the sphere,capsule and cuboid bounding box are used to simplify the manipulator model,which simplifies the calculation on the basis of ensuring the accuracy of the model..The second projection method and a calculation method of the shortest distance between spheres,capsules and cuboids are proposed to improve the efficiency of collision detection algorithm.(3)Path optimization of dual manipulator collaborative polishing.Taking the moving stability of the dual manipulator as the optimization goal,the improved Deep Deterministic Policy Gradient algorithm is used to optimize the polishing path of the dual manipulator.After the optimization of the algorithm,the offset of each joint angle of the dual manipulator changes smoothly during the polishing process.(4)Control system and PC software design.Based on the idea of layered and modular design,the control system and PC software are designed to realize the control of each equipment by PC,complete the task of collaborative polishing,and complete the tasks of collision detection and working condition analysis by analyzing the running state of each equipment.(5)System construction and comprehensive experiment.According to the design scheme of control system and PC software,the experimental platform of dual manipulator collaborative polishing is built and the reliability of the system is verified.Based on the experimental platform,the correctness of collision detection and collaborative polishing path optimization theory is verified.On the basis of relevant research,in-depth research on the kinematics,collision detection,path optimization of dual manipulator coordination is carried out.The constructed dual manipulator collaborative polishing system can reliably complete the dual manipulator collaborative polishing operation.Through the research of this subject,the practical level of dual manipulator collaborative polishing is improved.