文献类型：会议论文

英文题名：Research on Master-Slave Coordinated Control Method of Dual-Arm Robot

作者：Liu, Dexin[1,2]; Zhang, Jiancheng[1,2]; Li, Yuan[1,2]

第一作者：刘德馨

机构：[1] Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing, 100101, China; [2] College of Robotics, Beijing Union University, Beijing, 100101, China

第一机构：北京联合大学北京市信息服务工程重点实验室

通讯机构：[1]Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing, 100101, China|[11417103]北京联合大学北京市信息服务工程重点实验室;[11417]北京联合大学;

会议论文集：Proceedings of International Conference on Image, Vision and Intelligent Systems, ICIVIS 2022

会议日期：August 15, 2022 - August 17, 2022

会议地点：Jinan, China

语种：英文

外文关键词：Constraint handling - Inverse problems - Robotic arms - Trajectories

摘要：The mechanical structure of the dual-arm robot is analyzed in this paper, according to the characteristics and redundancy of human arm joints. First, the positive and inverse kinematics model of dual-arm robot is verified based on the DH method. For the problem of coordinate motion of dual-arm robot handling object, master-slave coordinated control strategy is adopted. Second, the dual-arm system is decomposed into a master-arm system and a slave-arm system. The trajectory of master-arm is planned. Last, the trajectory of slave-arm is calculated according to the constraint between the two arm ends. Finally, the solution of inverse kinematics of dual-arm system is obtained. This method is proved to have better performance in constraint handling and greatly simplifies the amount of calculation. The simulation results display that the algorithm designed makes the trajectory of the arms natural and smooth. The Movement consistency of the dual-arm robot is also ensured. ? 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.