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Research and Implementation of the Service Robot Dual-arm Coordinated Manipulation

Author: LiXianHua
Tutor: TanShiLi
School: Shanghai University
Course: Mechanical and Electronic Engineering
Keywords: Modular Inverse kinematics Kinematic calibration Arms coordination Anthropomorphic movement Petri net model Control architecture
CLC: TP242
Type: PhD thesis
Year: 2011
Downloads: 316
Quote: 1
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Abstract

Service robots in unstructured environments to provide the necessary services for the human variety of high-tech integrated body. One type of service robots have arms like a human arm system, and to improve the operation of the robot arms coordination system operation capability, load capacity, reliability, and extended operations space efficient way, has been a hot area of ??robotics research. This topic comes from the 863 funded projects \Thesis \. Study includes kinematics and calibration of arms, arms coordinated motion planning, arms anthropomorphic arms collaborative action planning and Petri net modeling four aspects, thesis work is as follows: 1) built a lightweight and system openness Features of the service robot arms systems. For general industrial robot arm relatively large weight and control system closed, not suitable for the service robot arm shortcomings, the use of code open, modular joints constitute service robot arms systems, greatly reducing the overall quality of the robot. Upon completion of the arms connected to the system hardware, based on the modular nature of joint function, designed arms distributed control software system solutions. 2) From the point of easy to understand and real time, the completion of the arms kinematics solver; the relative error of the method, the arms for the kinematic calibration. DH method describes the use of the structural parameters of the robot arm, to get his arms forward kinematics equations; in the process of solving the inverse kinematics for purely algebraic method is not easy to find the equation of the independent variables are not related to the shortcomings of the arm before using geometric method for solving three joints, after using the algebraic method to solve the three joints. Preparation of VC-based algorithm verification procedures to verify the correctness of the algorithm and real-time. Establish a relative error of kinematic calibration model, using laser tracker was calibrated against arms, improved arm positioning accuracy. 3) completion of a single robot arm trajectory planning, in-depth analysis of the arms and four kinds of coordinated motion constraint. For the robot arm joint space, using the interpolation method LSPB trajectory planning; Cartesian space using linear interpolation and circular interpolation approach to planning, and in order to make more uniform rotational motion, then use the arm posture quaternion interpolation . Arms and held by the object forming a closed kinematic chain for handling rigid arms, holding forceps sports, ball joint operation object and coordinated movement of the bolt assembly four kinds of in-depth discussions. Master-slave control mode followed by the main arm initial state and operating conditions, the velocity obtained from the arm to complete the coordinated movement of arms; For the robot arm and the arm motion planning are carried out instructions of, and the preparation of teach- Software Implementation of the motion control of the robot arm. 4) From the perspective of neural science students, conducted the service robot arms gesture humanoid optimized design, build, his arms gesture anthropomorphic mathematical model. In order to make humanoid robot arm can generate action, first analyzes the human arm structure, the degree of freedom and movement mechanism, and then combined neurophysiological research and service characteristics of robot arms to optimize the initial attitude arms in the human body Fixed arm sensorimotor transformation model based on the service robot arms have been produced anthropomorphic attitude mathematical model. 5) established a task operating arm and arms Petri net model and analysis of its basic performance, designed based on this model as the core operation control arms coordination structure. According to the characteristics of the arm manipulation tasks performed on the arms operating segment, namely coordinating operational tasks and non-coordinating operational tasks, to establish a task operating arm and arms Petri net model, using the method of reachability graph models are analyzed, obtained arms collaborative network model is bounded, live and conserved conclusions; this model mission operations for the service robot arms coordination layer, collaborative research and development arms of hierarchical control system architecture. 6) In order to verify the proposed algorithm and the effectiveness of the method, a family of general services and entertainment for the object, the service robot body platform for a series of functional and performance test, test system hardware service robot arms reliability and stability of the software, the experimental results are analyzed, and pointed out the deficiencies. This thesis is about service robot arms coordinated operations research, will help to open systems robot arm exercise capacity, degree of anthropomorphism, improve operational performance and stability, which will expand the field of robotics applications, has a positive academic significance and important practical significance.

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