A motion simulation for Dual-arm robot based on the state-space method

被引：0
作者：
Yao Yao [1 ]
Weng Zheng-xin [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Coll Elect Informat & Engn, Shanghai 201100, Peoples R China
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
关键词：
Dual-arm robot; D-H method; MATLAB; the state-space method;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The research and development of dual-arm robot is a new direction of the robot industry development. Relative to the single arm robot, it not only can greatly enhance the adaptability for complex work, but also can improve the efficiency of work space [1]. In this paper, the kinematics equation of the end of the arm is deduced using the D-H method. Then the control algorithm based on the state space method is used to prevent movement interference in the process of arm movement. Finally, the displacement curve of end of arm can be got through the simulation of MATLAB using control algorithm. The effectiveness of the control algorithm can be judged.
引用
收藏
页码：4939 / 4943
页数：5
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