Research And Simulation Analysis Of Obstacle Avoidance And Compliance Control Method Of 7-DOF Cooperative Manipulator

With the continuous development of robotics technology,the current research on robots is no longer limited to traditional industrial scenes.Nowadays,it is hoped that people can participate in the robot's work scene to collaborate in complex tasks.This makes the robot must have a certain degree of flexibility and dexterity of operation,so as to ensure the safety and stability of the robot in the process of human-computer interaction as much as possible.In view of this,this article has carried out obstacle avoidance technology and compliance control research for the 7-dof cooperative manipulator.The main research contents are as follows:First,the Modified D-H parameter method is used to establish the joint link model of the manipulator and analyze the kinematics.The inverse kinematics of the manipulator is solved by the concept of arm angle,and the theory verification is completed by the MATLAB robot toolbox.Subsequently,the work space of the robotic arm is analyzed and solved.Finally,the Lagrange method was used to model the dynamics of the flexible joint manipulator arm caused by the harmonic reducer,which laid the foundation for the following theoretical research.In the process of the robotic arm starting to work from the starting position to the target point,it is ensured that the robotic arm can avoid the human body to ensure human safety.This article first establishes a suitable bounding box model for the human body and the robotic arm,and performs collision detection for the subsequent path planning process.Then use the artificial potential field method to study the obstacle avoidance technology of the manipulator.Aiming at the problem of the local minimum point in the artificial potential field method,the simulated annealing algorithm is used to improve it,and finally the manipulator can successfully reach the desired target position.In order to ensure the flexibility of the manipulator in contact with the outside world after reaching the target point,consider the use of impedance control.The impedance control strategy of the flexible joint manipulator in Cartesian space is studied,and the impedance control parameters are discussed appropriately,and the influence of different parameters on the system is explored.Finally,based on the above research content,co-simulation experiment with V-REP and MATLAB is used to verify the validity of the theory by setting up a corresponding simulation experiment scene.The results of simulation experiments show that the use of the corresponding algorithm studied can make the manipulator achieve good results in the process of avoiding obstacles,and it can also show good flexibility when the manipulator is in contact with the outside world.