Research And Application Of Multiple Desktop Manipulator Collaboration Mechanism Based On ROS

In recent years,desktop manipulators have become popular in many fields due to their lightness and high precision.In the field of chemical analysis,if you take into account the dangers of chemical operations,the standardization of operating steps,the repeatability of the operating process,the limitations of experimental scenarios,the diversity of chemical categories,and many other factors,the desktop manipulators have huge advantages in this field.Although a single manipulator can perform more elaborate operations in some task scenarios,most operations in chemical analysis require the cooperation of multiple manipulators to simulate two human arms,such as the transfer of chemical reagents in chemical instruments,the weighing of chemicals and other operations,which are no longer satisfied with a single manipulator,and put forward higher requirements for the cooperation of multiple manipulators.In view of the problems of traditional chemical analysis and the shortcomings of single manipulator,this project applies multiple desktop manipulator cooperation in the field of chemical analysis.The problems that need to be solved include how to identify the chemical instruments that the manipulator needs to operate through the images collected by the depth camera,the cooperation mode of multiple manipulators,how to avoid the collision between the manipulators,and what path planning strategy multiple manipulators need to adopt,etc.Therefore,this project is based on ROS(Robot Operating System)and uses two desktop manipulators to build a multi-manipulator collaboration system with a depth camera,and a common operation in chemical experiments as an example,explores the application prospects of multi-manipulator collaboration in the field of chemical analysis.In response to this experimental operation,solutions were proposed for object detection algorithms,collision detection,and motion planning algorithms involved in multi-manipulator collaboration.(1)In order to clarify the motion constraints of the manipulator itself and determine the hardware and structural parameters of the manipulator,the forward kinematics modeling of the manipulator according to the D-H method and the inverse kinematics modeling of the manipulator according to the Jacobian matrix iteration method are proposed;and the manipulator is further simulated based on ROS.This operation prepares for the follow-up collaboration process based on manipulators.(2)In order to clarify the relative position of the manipulator and the depth camera,a hand-eye calibration of the manipulator and the depth camera is proposed;in order to enable the system to recognize and locate the target object in the field of view of the depth camera,the SSD algorithm is selected to recognize and locate the target of the chemical experiment instrument.This operation enables the manipulator to grasp the target object in the field of view of the depth camera.(3)In order to avoid collisions between multiple manipulators in the process of collaboration,it is proposed to use spheres and cylinders to surround the manipulators,and realize the collision detection based on the collision detection library provided by "Move It!";In order to establish a more efficient motion planning algorithm for multi-manipulator cooperation,a motion planning algorithm combining linear interpolation and improved RRT algorithm is proposed.This operation enables multiple manipulators to complete tasks safely and efficiently in a collaborative space.(4)In order to verify the feasibility of the multi-manipulator collaboration system in the field of chemical analysis,a manipulator was manipulated to grasp the measuring cylinder recognized by the system and reached a designated location,and a manipulator grips the beaker to reach the target position,then pour the liquid in the measuring cylinder into the beaker.At the same time,the experiment process was analyzed.Experimental results show that the multi-manipulator collaboration platform based on ROS has good applicability to chemical experiment operations.The system not only accurately identified the measuring cylinder in the field of view of the depth camera,but also safely and efficiently completed the chemical experiment operation of pouring the liquid in the measuring cylinder into the beaker under the premise of avoiding collisions.The good experimental results are obtained,which verify the rationality and effectiveness of multiple desktop manipulator cooperation in the field of chemical analysis.