Research on kinematics simulation and testing of the modular dual-arm cooperative robot

被引：0

作者：

Cui, Ze ^{[1
]}

Gong, Mengyu ^{[1
]}

Chen, Zenghao ^{[1
]}

Yang, Hongxin ^{[1
]}

Lei, Jingtao ^{[1
]}

Cui, Yuqian ^{[2
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China

[2] BECKHOFF Automat Co Ltd, Germany BECKHOFF, Shanghai, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

基金：

国家重点研发计划;

关键词：

Dual-arm Robot; Motion control; kinematics solution;

D O I：

10.1109/CAC51589.2020.9326671

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the kinematics simulation and experiment of a dual-arm robot that has six rotational DOFs of each arm. Based on the solution and division of the single-arm operation space and the dual-arm collaborative space, the coordinated action indicators of the dual-arm robot are quantitatively analyzed. The dual-arm trajectory planning is carried out by using the target task layer-by-layer decomposition mode. For the orientation interpolation planning and joint trajectory planning, the quaternion method and the fifth-order polynomial interpolation method are combined respectively to improve the accuracy and effectiveness of the trajectory planning. Finally, MATLAB is used to simulate the dual-arm coordinated and used EtherCAT bus and TwinCAT master station to establish a robot system. The testing results show that the kinematics analysis and trajectory planning of the dual-arm coordinated robot are correct and feasible.

引用

页码：4158 / 4163

页数：6

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