Dual-arm robot movement control method under non-linear condition of driver
A robot and nonlinear technology, applied in the field of robotics, can solve problems that affect the stability of the dual-arm robot system, and the robot is difficult to accurately control the position and damage of objects
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[0031] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following describes the embodiments of the present invention in detail in conjunction with specific examples and with reference to the accompanying drawings.
[0032] Such as figure 2 Shown is a schematic diagram of a dual-arm robot grabbing objects. The dual-arm robot has two left and right mechanical arms, the two mechanical arms have the same structure, and each mechanical arm has 3 degrees of freedom. The end of the robotic arm has a grasping device, which is connected to the object, and can operate the object on a plane to control the coordinates and posture of the object. The object is a rigid object with uniform density. In this example, it is assumed that the object and the robotic arm grasping device are closely connected, and no relative movement occurs. The dual-arm robot takes the base of the robot arm 1 as the base coordinates of the robot, and the cent...
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