Research On Cooperative Control Of Dual Redundant Robot Arms

In recent years,dual arm robots have been gradually applied in manufacturing and service industries due to their strong coordination,operability and high efficiency.This paper mainly studies the subject from the following aspects:(1)The improved D-H parameter method is used to establish the linkage coordinate system of the robot,and the forward kinematics of the robot system is analyzed.Then,based on Newton iteration method,the inverse kinematics of the robot system is modeled using the Jacobian matrix of the manipulator.It provides the corresponding theoretical basis and basis for the research of the operation mode,motion control and trajectory planning of the robot system.(2)A self collision protection algorithm based on improved GJK algorithm is proposed.First,a collision model is built based on the directed bounding box model.Secondly,the algorithm proposes a sensitivity coefficient for measuring the collision degree between spheres.When two spheres collide,two repulsive velocities will be generated at the control point,thereby changing the motion of the mechanical arm to avoid collisions between the two arms.Finally,a simulation is carried out on a dual arm robot to verify the effectiveness of the algorithm.The results show that the algorithm can effectively avoid self collision between two arms through a simple collision model.This method optimizes the collision model,reduces the calculation cost,and improves the reaction speed and accuracy of the manipulator.(3)A linear active disturbance rejection controller(LADRC)based on linear extended state observer(LESO)is designed.This controller can be applied to the motor of dual arm robot to achieve accurate tracking of angle,angular velocity and current.First,a linear extended state observer is connected in the negative feedback link to estimate the deviation between the measured value and the actual value and make feedforward compensation.Second,a proportional differential controller is designed in the controller link to achieve fast tracking of the expected value.Finally,the simulation and experiment prove that the LDRC controller of permanent magnet brushless motor based on LESO designed in this paper can better deal with the complex nonlinearity of PMSM,including load change and noise.The cooperative manipulation of dual arm robots is a hot topic in the research of dual arm robots and a difficult point in the control.The research in this paper further expands the work in the operation of dual arm robots,and also provides important suggestions and selection basis for the future application of dual arm robots in industrial production.