Path planning method of double-mechanical-arm collaborative assembly operation

Abstract

The invention provides a path planning method of double-mechanical-arm collaborative assembly operation. The path planning method comprises the following steps that a kinematics model and a dynamics model of the double-mechanical-arm operation are established; initial parameters are set, initial sampling is carried out, the distance between a tree node and a sampling point is calculated, and a nearest tree node is found to serve as a parent node; a candidate sampling point is added if no collision occurs; the potential energy of the sampling point is calculated, and roulette selection is performed according to the reciprocal of the potential energy to obtain the sampling point; the point with the cost less than r is added into a heavy connection point, the cost of the path formed by connecting the sampling point with the heavy connection points is calculated, and the connection mode of the shortest cost is selected to determine connection parent node of the sampling point; the connection mode with the lowest cost is selected to re-establish the parent-child relation of the node; the sampling point is replaced by using a target point when the potential difference between the sampling point and the target point is smaller than h, and a random tree is finished; and a planning path is determined according to the parent-child relation of the node of the random tree. According to thepath planning method of the double-mechanical-arm collaborative assembly operation, the high-quality path with short end movement distance, short operation time and low mechanical arm energy consumption can be planned.

Description

technical field [0001] The invention belongs to the field of robot control and automatic assembly, and is suitable for the field of industrial robot automatic assembly. Specifically, it relates to a path planning method for dual-manipulator cooperative assembly operations based on a rapid potential energy exploring random trees algorithm (Rapidly potential energy exploring random trees, hereinafter referred to as RPT). Background technique [0002] Industrial robots are the core equipment of flexible automation. In the application of production, industrial robots can improve labor productivity, improve product quality, improve working conditions, improve the competitiveness and adaptability of enterprises, promote the establishment and development of new industries, change the labor structure, and promote technological progress in related disciplines. All played a significant social and economic benefits. In the field of automated assembly, it is often difficult for a sing...

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Problems solved by technology

[0004] In order to overcome the problem of low path quality encountered by the existing planning algorithm when planning the cooperative assembly path of dual manipulators, and meet the speed constraints of the end of the manipulator required by the assembly operation, the present invention provides a dual manipulator based on the RPT algorithm. The collaborative assembly path planning method can plan a high-quality path with short terminal movement distance, short assembly operation time, and low energy consumption of the manipulator, and also provides a basis for the collaborative control of dual manipulators

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