Analysis and Simulation of Workspace of Dual-arm Robot

Xie Shengliang; Liu Zuoshi

doi:10.16578/j.issn.1004.2539.2018.06.029

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Analysis and Simulation of Workspace of Dual-arm Robot

更新时间：2022-10-20

- Analysis and Simulation of Workspace of Dual-arm Robot
- Vol. 42, Issue 6, Pages: 139-143(2018)
- 作者机构：
  
  1. 江西理工大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.06.029
  CLC：
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[1]谢生良,刘祚时.双臂机器人工作空间的分析与仿真[J].机械传动,2018,42(06):139-143.

Xie Shengliang, Liu Zuoshi. Analysis and Simulation of Workspace of Dual-arm Robot. [J]. 42(6):139-143(2018)
[1]谢生良,刘祚时.双臂机器人工作空间的分析与仿真[J].机械传动,2018,42(06):139-143. DOI： 10.16578/j.issn.1004.2539.2018.06.029.

Xie Shengliang, Liu Zuoshi. Analysis and Simulation of Workspace of Dual-arm Robot. [J]. 42(6):139-143(2018) DOI： 10.16578/j.issn.1004.2539.2018.06.029.

摘要

以双臂机器人为研究对象,进行工作空间分析。首先,使用D-H法对双臂机器人建立连杆坐标系并求解正运动学方程;然后,基于蒙特卡罗法求解了三维工作空间,沿Z轴方向分层;其次,按角度划分法和极值理论提取了工作空间边界点;最后,采用最小二乘法对边界点进行了曲线拟合。结果表明,使用MATLAB仿真,工作空间边界点提取效果较好,拟合曲线误差较小,双臂协作空间较大,为进一步的动力学分析、轨迹规划和运动控制提供了参考。

Abstract

Taking the dual-arm robot as the research object and its workspace is analyzed. Firstly,the D-H method is used to establish the linkage coordinate system of the dual-arm robot and the forward kinematics equation is solved. Then,the 3 D workspace is solved based on the Monte Carlo method,which be stratified along the Z-axis direction. Thirdly,the method of partitioning by angle and the extreme value theory are used to extract the boundary points of the workspace. Finally,the least square method is applied to fit the boundary points. The results from the MATLAB simulation show that the extraction effect of boundary points is better,the error of fitting curve is smaller and the cooperation space of the dual-arm robot is larger,which provides a reference value for the dynamics analysis,trajectory planning and motion control of the dual-arm robot.

关键词

双臂机器人工作空间蒙特卡罗法边界提取曲线拟合

Keywords

Dual-arm robotWorkspaceMonte Carlo methodBoundary extractionCurve fitting

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