Research On Dual-arm Cooperative Control Of UR5 Industrial Robot

With the advancement of intelligent manufacturing,industrial robots have become the core force of a new generation of industrial production.Affected by its own structure,the traditional single-arm robot cannot complete complex work tasks,which limits its own play space.In order to make industrial robots have higher work efficiency and complete more complex production work,dual-arm robots came into being,and at the same time,dual-arm collaborative control technology has also received extensive attention from researchers.This paper proposes a dual-arm cooperative control scheme.This scheme combines object recognition and positioning,collision detection and adaptive genetic algorithm to realize the cooperative control of a dual-arm robot and improve the robot's working efficiency and ability.Firstly,a UR5 dual-arm system is designed,the construction of the hardware and software platform is completed,and the object recognition positioning algorithm and 3D environment construction scheme are studied.The FAST feature point detection algorithm is used to identify and locate the target object,and the target object matching recognition experiment is carried out in the ROS environment,and the three-dimensional coordinates of the target object are successfully obtained.At the same time,a 3D environment construction scheme based on Kinect V2 was proposed and implemented.Secondly,the kinematics model of UR5 dual-arm robot was established and verified.Based on the D-H rule,the kinematics equations of the manipulator are established,and the inverse kinematics solving process is derived using the analytical method.The correctness of the kinematics model is verified by comparing the results of the forward and inverse kinematics solutions.A motion planning experiment based on the analytical method was carried out.The experimental results show that when the analytical method is used,the planning efficiency and planning time of the robot arm are both ideal,which proves the effectiveness of the method.Then,an adaptive genetic algorithm based on the principle of collision detection is proposed to realize the cooperative control of the UR5 dual-arm robot.The fifth-degree polynomial interpolation algorithm and Monte Carlo algorithm are used to realize the terminal trajectory planning and working space calculation of both arms.Aiming at the problem of collision detection,a scheme for judging whether interference occurs based on the spatial geometric position relationship is proposed,and simulation verification is carried out.The genetic algorithm is improved according to the principle of collision detection,considering the influence of parameters such as the path length,the joint angle increment and the total motion time,the fitness function is established,and the simulation experiment of double-arm cooperative obstacle avoidance was carried out,a better double-arm cooperative planning effect was obtained.In the end,a real-machine experiment of the double-arm robot's pouring action was successfully carried out,and the reliability of the proposed scheme was verified,which provided an efficient and feasible scheme for the robot's dual-arm cooperative control.Finally,the end of the full text is carried out,and the future research direction is prospected.