[1]ZHANG Yuqiang,LAI Huige.Research on the coordination motion of redundant dual-arm robot based on kinematics performance[J].CAAI Transactions on Intelligent Systems,2020,15(5):856-863.[doi:10.11992/tis.201903010]
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Research on the coordination motion of redundant dual-arm robot based on kinematics performance

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 5 Page number: 856-863 Column: 学术论文—智能系统 Public date: 2020-09-05
Title:
Research on the coordination motion of redundant dual-arm robot based on kinematics performance
Author(s):
ZHANG Yuqiang1; 2;  LAI Huige1
1. School of Mechanical Engineering, Ningxia University, Yinchuan 750021, China;
2. Xi’an Changqing Technology Engineering Co., Ltd., Xi’an 710018, China
Keywords:
redundant dual-arm robot; workspace; coordinated motion; ABB YuMi; flexibility; manipulability; constraint relations; coordinative assembling
CLC:
TP241
DOI:
10.11992/tis.201903010
Abstract:
The motion of a redundant dual-arm robot is subject to dual-arm coordination constraints when performing a coordination task. To improve the coordinated motion ability of redundant dual-arm robots in its interactive workspace, a kinematics performance index is proposed in this study, which can effectively reflect the flexibility of the redundant dual-arm robot ABB YuMi’s coordinated motion. First, the robot kinematic model is established using the Denavit-Hartenberg parameters and the dual-arm manipulability of a robot is analyzed. Then, the kinematics constraint relations and corresponding motion control laws of the two coordinated motion modes are studied. Finally, based on the flexibility analysis, the dual-arm coordinative assembling of motor rotor and bearing and the dual-arm alphabetic drawing tasks are constructed. Simulation and experiment are carried out to prove the validity of the dual-arm manipulability index and correctness of the coordinated motion planning method.
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