Analysis and Simulation of Collaborative Space of the Dual Arm 6R Service Robot

Li Xianhua; Sun Qing; Fan Kaijie; Zhang Leigang

doi:10.16578/j.issn.1004.2539.2018.09.025

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Analysis and Simulation of Collaborative Space of the Dual Arm 6R Service Robot

更新时间：2022-10-20

- Analysis and Simulation of Collaborative Space of the Dual Arm 6R Service Robot
- Vol. 42, Issue 9, Pages: 130-134(2018)
- 作者机构：
  
  1. 安徽理工大学机械工程学院
  2. 上海大学机电工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.09.025
  CLC：
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[1]李宪华,孙青,范凯杰,张雷刚.双臂6R服务机器人的协作空间分析与仿真[J].机械传动,2018,42(09):130-134.

Li Xianhua, Sun Qing, Fan Kaijie, et al. Analysis and Simulation of Collaborative Space of the Dual Arm 6R Service Robot. [J]. 42(9):130-134(2018)
[1]李宪华,孙青,范凯杰,张雷刚.双臂6R服务机器人的协作空间分析与仿真[J].机械传动,2018,42(09):130-134. DOI： 10.16578/j.issn.1004.2539.2018.09.025.

Li Xianhua, Sun Qing, Fan Kaijie, et al. Analysis and Simulation of Collaborative Space of the Dual Arm 6R Service Robot. [J]. 42(9):130-134(2018) DOI： 10.16578/j.issn.1004.2539.2018.09.025.

摘要

针对双臂6R服务机器人的协作空间问题,根据其构型特点而采用蒙特卡洛法和遍历搜索对比法进行分析。首先,根据机械臂的构型而采用标准DH法对其搭建模型,进而算得双臂的正运动学方程;然后,采用蒙特卡洛方法得到双臂各自的工作空间;接着,运用遍历搜索对比法求得双臂的协作空间,并且通过运动学逆解法求出协作空间内双臂关节角的范围;最后,应用MATLAB工具箱搭建仿真平台,并编写算法进行仿真分析,验证了上述分析的正确性,并为后续的协调操作和轨迹规划奠定基础。

Abstract

Aiming at collaborative space problem of the dual arm 6 R service robot,the Monte Carlo and traversal search comparison method are used for analysis according to its configuration characteristics. Firstly,according to the configuration of the manipulator,the standard DH method is used to construct the model,and then the forward kinematics equation of the arms is obtained. Secondly,the work space of each arm is got by using Monte Carlo method. Then,the collaborative space of the arms is obtained by using the traversal search comparison method,and the range of the joint angle of the dual arms is obtained through kinematics inverse method. Finally,the MATLAB toolbox is used to build the simulation platform and the algorithm is written to verify the correctness of the above analysis,and the foundation for the follow-up coordinated operation and trajectory planning is laid.

关键词

双臂蒙特卡洛法遍历搜索对比法协作空间

Keywords

Dual armMonte Carlo methodTraversal search comparison methodCollaborative space

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