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

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.