Simulation Research Based On Motion Coordination And Control Of Dual Manipulators

Due to the limitation of working range and efficiency of single manipulator,it is difficult to meet the increasing demand of modern production.In many fields,there are more and more scenarios for dual-manipulator and even multi-manipulator collaboration applications.As a typical representative of the multi-manipulator system,the dual-manipulator system has gradually become one of the research hotspots in the field of manipulators.This paper takes the dual-machine mutual-assisted redundant dexterous manipulator as the research object and studies the kinematics,dynamics,trajectory planning,and tracking control of the dual-manipulator.The main contents are as follows:Firstly,a 7-DOF redundant dexterous manipulator model with human-machine mutual assistance is established.The kinematics equation was established by the improved D-H parameter method and the simulation model of the double manipulator was established by the MATLAB robot toolbox,and the forward kinematics analysis was carried out.According to the geometrical characteristics of the redundant manipulator,the inverse kinematics is solved by arm Angle parameterization.An improved particle swarm optimization algorithm is used to optimize the arm Angle of the optimal configuration.The Monte Carlo method was used to calculate the workspace of the double manipulator,and the kinematics simulation was carried out with MATLAB to verify the correctness of the kinematics model.Secondly,the Lagrange method was used to establish the dynamics model of the7-DOF manipulator,and the variation rule of each factor of the dynamics equation was analyzed.Then,the dual manipulator model was imported into ADAMS for dynamics simulation.Thirdly,the coordination,synchronization and relative kinematics of the two manipulators are analyzed and then a quintic B-spline interpolation algorithm is used to realize the trajectory planning of the redundant dexterous manipulators with dual human-machine mutual assistance.Under the condition that the trajectory point of the master manipulator is known,the improved artificial potential field method is used to carry out collision free path planning for the slave manipulator,and the obstacle is avoided from the manipulator to reach the target position,which verifies the effectiveness of the improved artificial potential field method.Finally,the gravity compensated PD control method is used to realize the joint position control of the double manipulator.Combined with the virtual prototype model established in ADAMS and the co-simulation control platform established with Matlab\Simulink,the trajectory tracking of the manipulator is carried out and the simulation verification is carried out,and the better tracking characteristics are obtained.According to the characteristics of coordination synchronization and relative motion of the two manipulators,the simulation experiments of coordination synchronization and relative motion of the two manipulators were carried out to verify the correctness of the control method.