Research On Coordinated Control Of Dual-Arm Assembly Robot

With the introduction of Smart Manufacturing in China 2025,robots are more and more widely used in industries such as industry,medical care,and services.However,due to single-arm robots are relatively large limitations,they cannot adapt to more complex environments.Therefore,the dual-arm robot are being widely used.The research on the structure,motion planning and control of the dual-arm robot is more difficult than that of the single-arm robot.Therefore,this paper takes the dual-arm assembly robot as the research object,and its kinematic modeling,coordinated motion planning and master-slave coordination control are being studied to complete the dual arm assembly task.The main research contents are as follows:Firstly,the kinematics model of the dual-arm assembly robot is established.Aiming at the dual-arm robot body,the forward kinematics model of the left arm is established by using the D-H coordinate method.Then,the kinematics models are divided into open-chain kinematics model and closed-chain kinematics model according to the different tasks performed by the dual-arm robot.Respectively discuss the constraints of the arms under the two motion models.Use the improved Particle Swarm Optimization Algorithm(PSO)to solve the inverse kinematics problem of the robot.Secondly,the motion planning method for the coordinated operation of the two arms is studied.The two arms work in a master-slave mode,and the improved Rapidly-exploring Random Tree(RRT)method is used to plan the path of the dual-arm manipulator.The gravitational potential field of the target point to the search point is added to make the search directional.The disadvantage of the tortuous path planned by the classical RRT method is to add the Bezier transformation to make the joint angle change,joint angular velocity change,and joint angular acceleration change relatively smooth,thus making the path curve smoother.Coordinated motion planning of the two arms can be calculated by following method.Thirdly,the coordinated control method of the two arms is studied.A stepby-step coordination strategy based on master-slave control is adopted.The two arms are divided into a master arm and a slave arm,a position control strategy is adopted in the grasping material stage and the non-contact stage of assembly,and force feedback-based is adopted in the outer contact and inner contact stages of assembly.According to the obtained force sensor information,the assembly posture will be adjusted.Finally,the overall structure of the assembly system is designed,which is mainly composed of a vision system,a force sensor system and an actuator.Based on the experimental system,the dual-arm motion planning experiment and the peg-in-hole assembly experiment were carried out.Experiments have verified that the assembly system can successfully complete the assembly task,and proved the feasibility and effectiveness of the motion planning algorithm and coordinated control strategy.