Trajectory Planning And Control Of Dual Arm Cooperative Robot

This paper mainly focuses on the research of the dual arm cooperative robot.Firstly,the kinematics and dynamics model of the dual arm robot is established,and then the coordinated motion and joint space trajectory of the dual arm robot are planned and analyzed.Finally,the control model is established to control the dual arm robot,so as to analyze the feasibility of the coordinated operation of the dual arm robot.Firstly,the forward and inverse kinematics model of the dual arm robot is established.The D-H model parameters of the dual arm robot are established,and then the left arm(single iiwa14 manipulator)is taken as the experimental object,and the forward kinematics equation of the dual arm is established by using the D-H coordinate method.By comparing the numerical solution with the closed solution,the Jacobian iterative numerical solution suitable for solving the inverse kinematics equation of the dual arm is selected,and the damping value is introduced into the pseudo inverse matrix of Jacobi to avoid the robot production At the same time,the unit quaternion interpolation attitude and the introduction of weighting factor to the improved pseudo inverse matrix are used to avoid the joint angle exceeding the self-contained limit after inverse solution,which lays the foundation for the subsequent motion planning.Finally,taking the double arm as the object,the dynamic equation is established and analyzed to pave the way for the later system control.Secondly,the coordinated motion and joint space trajectory planning of the dual arm robot are studied.Aiming at the situation that there is no collision between the two arms in the process of completing the coordination task of the manipulator,the self collision avoidance algorithm of the manipulator is firstly analyzed and studied.Then,the relevant constraint equations are established for the coordinated transportation,and the constraint relationships such as the pose,velocity and acceleration of the master-slave arm of the dual arm are obtained Under the constraint of angular velocity and angular acceleration,the advantages and disadvantages of the five degree B-spline interpolation method,NSGA-II algorithm and Newton numerical iteration method are analyzed and studied under the motion constraints of angular velocity and angular acceleration.Then the control method of dual arm robot is studied.Firstly,a single iiwa14 manipulator is taken as the research object,and the PD control method is used to control the joint position and joint speed,and the effectiveness and buffeting defects of the method are analyzed.Then,based on the PD control,the output state is constrained,and the PD control method with time-varying output constraint state is designed,and the feasibility of the method is deduced theoretically.Then,the dual arm coordinated control is studied under the combination of this method and coordinated motion planning trajectory in Chapter 3.Finally,the feasibility of the above method is verified by the simulation experiment of double arm transportation.Finally,the simulation platform of dual arm coordinated operation is introduced.The further simulation and analysis of the manipulator are carried out through the combination of MATLAB and Moveit and Moveit and gazebo respectively.For the experiment of double arm coordinated handling,the relevant scenes are arranged in gazebo and RVIZ,such as tables and moving objects.After the simulation experiment in MATLAB,the data obtained are imported into Moveit and simulated in gazebo simulator True,the information of two arms is obtained by rosbag and imported into Matlab.The effectiveness of the control method is analyzed and verified.