双臂协调机器人相对动力学建模
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摘要
双臂机器人动力学建模是研究双臂协调运动的关键技术,难点在于同一系统中建立两机械臂之间联系。针对双臂协调机器人动力学建模问题,基于拉格朗日方程建立了两臂动力学模型一般形式,运用矢量解析法求解单臂角速度雅可比矩阵,然后结合虚位移原理,基于相对雅可比矩阵建立双臂协调机器人相对动力学模型,确立两机械臂末端相对作用力与关节参数之间关系。仿真和试验结果验证了矢量解析法与相对动力学模型的正确性,该模型能够求解两机械臂末端相对力,为分析双臂协调运动提供理论依据。
The dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic models of the two manipulators based on the Lagrangian equation is established, and the vector analytical method is used to solve the angular velocity Jacobian matrix of the single arm. Then combining the principle of virtual displacement, and based on the relative Jacobian matrix, the relative dynamics model of the dual-arm coordination robot is established. And the relationship between the relative forces of the ends of the two manipulators and the joint parameters is established. Simulation and experimental results demonstrate the correctness of vector analytical method and relative dynamics model. The model can solve the relative force of the ends of the two manipulators and provide a theoretical basis for analyzing the coordinated motion of the two arms.
The dynamic modeling of dual-arm robot is the key technology to study the coordinated motion of the two arms. The difficulty lies in establishing the connection between the two robot arms in the same system. Aiming at the problem of dynamic modeling of dual-arm coordination robot, the general dynamic models of the two manipulators based on the Lagrangian equation is established, and the vector analytical method is used to solve the angular velocity Jacobian matrix of the single arm. Then combining the principle of virtual displacement, and based on the relative Jacobian matrix, the relative dynamics model of the dual-arm coordination robot is established. And the relationship between the relative forces of the ends of the two manipulators and the joint parameters is established. Simulation and experimental results demonstrate the correctness of vector analytical method and relative dynamics model. The model can solve the relative force of the ends of the two manipulators and provide a theoretical basis for analyzing the coordinated motion of the two arms.
引文
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[4]JIA Y H,HU Q,XU S J.Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters[J].Acta Mechanica Sinica,2014,30(1):112-124.
[5]GE X,JIN J.Dynamics analyze of a dual-arm space robot system based on Kane’s method[C]//International Conference on Industrial Mechatronics and Automation.IEEE,2010:646-649.
[6]刘佳,刘荣.双臂协调机械手动力学建模的新方法[J].北京航空航天大学学报,2016,42(9):1903-1910.LIU J,LIU Rong.New approach for dynamics modeling of dual-arm cooperating manipulators[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(9):1903-1910.
[7]JAMISOLA R S,KORMUSHEV P S,ROBERTS R G,et al.Task-space modular dynamics for dual-arms expressed through a relative Jacobian[J].Journal of Intelligent&Robotic Systems,2016,83(2):205-218.
[8]SHIN S Y,LEE J W,KIM C H.Humanoid’s dual arm object manipulation based on virtual dynamics model[C]//IEEE International Conference on Robotics and Automation.IEEE,2012:2599-2604.
[9]蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015.CAI Zixing,XIE Bin.Robotics[M].Beijing:Tsinghua University Press,2015.
[10]XI W.Study of new analytic solution of robotic relative Jacobian matrix[J].Journal of Southeast University,2002,32(4):614-619.
[11]LEWIS C L.Trajectory generation for two robots cooperating to perform a task[C]//IEEE International Conference on Robotics and Automation,1996.Proceedings.IEEE,1995:1626-1631.
[12]LEWIS C L,MACIEJEWSKI A A.Trajectory generation for cooperating robots[C]//IEEE International Conference on Systems Engineering.IEEE,2012:300-303.
[13]JAMISOLA R S,ROBERTS R G.A more compact expression of relative Jacobian based on individual manipulator Jacobians[M].North-Holland Publishing Co.2015.
[14]SICILIANO B,SCIAVICCO L,VILLANI L,et al.Robotics:Modelling,planning and control[J].Advanced Textbooks in Control&Signal Processing,2009,4(12):76-82.