Relative Dynamic Modeling of Dual-Arm Coordination Robot

摘要

The dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic models of the two manipulators based on the Lagrangian equation is established, and the vector analytical method is used to solve the angular velocity Jacobian matrix of the single arm. Then combining the principle of virtual displacement, and based on the relative Jacobian matrix, the relative dynamics model of the dual-arm coordination robot is established. And the relationship between the relative forces of the ends of the two manipulators and the joint parameters is established. Simulation and experimental results demonstrate the correctness of vector analytical method and relative dynamics model. The model can solve the relative force of the ends of the two manipulators and provide a theoretical basis for analyzing the coordinated motion of the two arms.