Kinematics Analysis And Trajectory Planning Of Dual-arm Inspection Obstacle-clearing Robot

At present,in the field of industrial mechanised equipment,inspection robots are the preferred equipment for automated inspection operations,but they require workers to work repeatedly at workstations for long periods of time,with high labour intensity and a complex working environment.In order to solve this problem,this paper proposes the design of dual-arm inspection obstacle-clearing robot,which can realise unmanned automatic inspection and clearing and other complex tasks,such as grasping,handling,shearing,breaking and other clearing operations of target objects,improving operational efficiency and ensuring worker safety.The improved DH method is used to establish the dual-arm kinematics model of the inspection obstacle-clearing robot,and the solution of the forward kinematics and inverse kinematics of the right arm is solved.The forward and inverse kinematics algorithm is written with MATLAB to verify the correctness of the algorithm.The Monte Carlo method is used to solve the workspace of the inspection obstacle-clearing robot,which provides a reference for the subsequent inspection obstacle-clearing robot trajectory.The differential transformation method is used to establish the Jacobi matrix of the right arm of the inspection obstacle-clearing robot in the end coordinate system and the base coordinate system.Based on the value of the determinant of the Jacobi matrix is equal to zero,decoupling is carried out,all the bit shapes of the singular state of the right arm are calculated and all the singular points are solved,so that the special cases such as singular points of the right arm are reduced during operation.The right arm dynamics equations of the inspection obstacle-clearing robot are solved by a second class Lagrange method,the coefficients are solved,and the dynamics solution algorithm is written in MATLAB to verify the correctness of the derivation of the right arm dynamics equations and the construction of the dynamics model.The trajectory planning problems of the inspection obstacle-clearing robot in joint space and Cartesian space are discussed respectively.In the joint space,five times polynomial interpolation and three times Bessel curve interpolation are used as the main methods;in the Cartesian space,spatial linear interpolation and spatial circular arc interpolation are used as the main methods,laying the foundation for the simulation experiments of grasping and handling of the inspection obstacle-clearing robot.Using MATLAB and Coppelia Sim,the joint trajectory tracking controller is designed based on the computational torque control method,and achieves good control results for the inspection obstacle-clearing robot system.The feasibility of the algorithm and the trajectory is verified through the motion planning of the inspection obstacle-clearing robot gripping and handling,which provides a reference for the productisation of the dual-arm inspection obstacle-clearing robot.Figure [45] Table [5] Reference [80]...