Research On Relative Dynamics Modeling And Coordinated Control Method Of Dual-arm Robot

With the development of modern industry and the advancement of science and technology,single-arm robots are subject to the environment,and many jobs are difficult to complete.Under this circumstance,dual-arm robots have emerged.With the increasing demand for smart manufacturing,high-end assembly and complex machining tasks require the coordination of two robotic arms.In order to solve the technical problem of dual-arm coordination,the research on the coordinated motion of human-like dual-arm robots is increasing.The dynamic modeling of dual-arm robot is the key to study the coordinated motion of the two arms.The difficulty lies in establishing the connection between the two robot arms in the same system.At present,the dual-arm coordinated dynamic model is limited to the closed-loop system with closed-loop constraint relationship,and lacks the model of the relative force at the end of the two arms.In this paper,the concept of relative dynamics model is proposed.Based on the relative Jacobian matrix,combined with the principle of virtual work,the relative force expressions of the ends of the two manipulators are derived,and the relative dynamics system modeling is completed.The force/position hybrid coordination control is based on the established dual-arm relative dynamics model.The main contents are as follows:Firstly,the kinematics modeling of dual-arm robots and the relative Jacobian matrix solution are studied.Based on the D-H parameter method,a kinematics model of a space six-degree-of-freedom dual-arm robot is established in the same motion inertial coordinate system to solve the generalized transformation matrix between the links.The advantages and disadvantages of the Jacobian matrix solving method are analyzed.The vector analytic method is proposed to solve the angular velocity Jacobian matrix.The method abstracts into concrete and greatly simplifies the calculation.Based on the translational and rotational coordinate transformations,the linear mapping relationship between the relative velocity of the dual-arm robot and the joint velocity is derived,and the relative Jacobian matrix is obtained.Secondly,the relative dynamics modeling of the dual-arm robot.Based on the Lagrange equation,the matrix equations of the joint motion parameters and joint moments of the two manipulators are solved,and the dual-arm dynamic model is established.Then,using the relative Jacobian matrix and the principle of virtual work,the relationship between the relative force of the end of the two manipulators and the joint moment is derived,and the relative dynamic model is obtained.The model establishes the relationship between the joint motion parameters of the two manipulators and the relative force of the end.Then,the dual-arm robot force/position hybrid coordinated control study.Based on the force/bit hybrid control algorithm,the velocity control is used to compensate for the inaccuracy of the Jacobian matrix positional deviation in the position control system.Then the relative force of the two ends of the arms is introduced into the force control system,and the relative forces of the ends of the two arms are controlled by controlling the joint output torque.In order to ensure the stable operation of the established control system,the quadratic function is used to construct the positive definite Lyapunov equation.The derivation results prove the stability of the dual-arm coordinated control system.Finally,the simulation and experiment of the dual-arm relative dynamics model.The Yaskawa dual-arm robot SDA10 F was selected as the experimental research object,and the motion path was designed to determine the joint motion parameters.Combined with the actual structural data of the two arms,the simulation was carried out in the Matlab2014 software environment,and the simulation curves of the relative force of the two mechanical arms were obtained.Comparing the simulation results with the collected data during the experiment,the change trend and range of the relative force and moment of the two arms are consistent,and the correctness of the relative dynamics model of the dual-arm robot is verified.