Research On Collision Avoidance Path Planning And Impedance Control Algorithm For Dual Manipulator Cooperation

With the improvement of the industrial level,robotic arms are facing more and more complex tasks,and a single robotic arm can no longer meet human needs due to its limitations.Compared with the single-manipulator,the dual-arm robot has better flexibility and wider application range,so it has broad prospects in the industrial field.Therefore,the coordinated operation of dual robotic arms has become a hot research.This subject focuses on the path planning and force control problems of dual robotic arms.Taking the dual-manipulator system composed of two five-degree-of-freedom manipulators as the research object,the D-H method is used to build a kinematics model for it,the forward and inverse kinematics are analyzed,and the kinematics simulation is performed in MATLAB.The Newton-Euler method is used for the motion constraint analysis and dynamic analysis of the dual robotic arm system and the manipulator,and the force transmission analysis of the manipulator is performed according to the chain structure characteristics of the manipulator to obtain the force between the end of the manipulator and the manipulator,and The force is decomposed internally and externally.Aiming at the problem of collisions during the movement of dual robotic arms,an improved artificial potential field method is proposed to plan their path.In view of the complex structure of the robotic arm link and the large amount of calculation when performing collision detection,the cylindrical-hemisphere envelope box model is used to simplify the robotic arm link.Aiming at the problem that the artificial potential field method cannot constrain the overall pose of the manipulator,a new gravitational potential energy function is proposed,and a new repulsive potential energy function is constructed for the problem of large positioning errors of the manipulator caused by too much repulsion,and a virtual The target point establishment method helps the robot arm to escape from the local minimum point.Finally,a simulation was performed in Matlab to verify the feasibility of the algorithm.Aiming at the problem of force control when dual robotic arms cooperatively carry goods,a dual impedance loop control method based on BP neural network is designed.Analyzed the movement habits of human hands carrying goods,and proposed a dual-loop impedance control method combining the object impedance control loop and the robotic arm impedance control loop.In response to the problem of poor adaptability of traditional impedance control to unknown environments,a BP neural network was proposed.Adaptive impedance control of the network.Finally,it is simulated in Matlab to prove the effectiveness of the algorithm.Finally,the feasibility of the algorithm proposed in this paper is verified through experiments.