[1]张玉强,赖惠鸽.基于运动性能分析的双臂冗余度机器人协调运动研究[J].智能系统学报,2020,15(5):856-863.[doi:10.11992/tis.201903010]
 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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基于运动性能分析的双臂冗余度机器人协调运动研究(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第15卷
期数:
2020年5期
页码:
856-863
栏目:
学术论文—智能系统
出版日期:
2020-10-31

文章信息/Info

Title:
Research on the coordination motion of redundant dual-arm robot based on kinematics performance
作者:
张玉强12 赖惠鸽1
1. 宁夏大学 机械工程学院,宁夏 银川 750021;
2. 西安长庆科技工程有限责任公司,陕西 西安 710018
Author(s):
ZHANG Yuqiang12 LAI Huige1
1. School of Mechanical Engineering, Ningxia University, Yinchuan 750021, China;
2. Xi’an Changqing Technology Engineering Co., Ltd., Xi’an 710018, China
关键词:
双臂冗余度机器人工作空间协调运动ABB YuMi灵活性可操作度约束关系协调装配
Keywords:
redundant dual-arm robotworkspacecoordinated motionABB YuMiflexibilitymanipulabilityconstraint relationscoordinative assembling
分类号:
TP241
DOI:
10.11992/tis.201903010
文献标志码:
A
摘要:
为了提高双臂冗余度机器人在其交互工作空间中的协调运动能力,以ABB YuMi为例,提出了一种计算简便并且能够有效反映双臂协调运动灵活性的性能指标。利用D-H法建立了YuMi机器人的运动学模型,分析了双臂可操作度的分布情况,分别研究了两种协调运动方式的运动学约束关系以及相应的运动控制规律,基于灵活性分析构建了双臂协调装配电机转子与轴承以及字母绘制的任务,通过仿真和实验验证了本文双臂可操作度指标的有效性及协调运动规划方法的正确性。
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2019-03-14。
基金项目:国家自然科学基金项目(51765056)
作者简介:张玉强,硕士研究生,主要研究方向为机电系统智能控制;赖惠鸽,教授,硕士生导师,主要研究方向为机电系统智能控制。发表学术论文26篇
通讯作者:赖惠鸽.E-mail:zyxghl@163.com
更新日期/Last Update: 2021-01-15