Dual-mechanical arm synergic movement method and system

Abstract

The invention discloses a dual-mechanical arm synergic movement method and system. The method includes the steps of constructing a virtual dual-mechanical arm three-dimensional space model according to solid dual-mechanical arms; performing kinematics modeling on the mechanical arms; determining a synergic range of the dual-mechanical arms; controlling the virtual dual-mechanical arms to move to target poses according to actual needs, performing path planning and collision detection in real time in the movement process in cooperation with the synergic range, and saving feasible way points in adatabase of an industrial personal computer; building communication between the industrial personal computer and the actual dual-mechanical arms; and loading the feasible way points in the database to the actual dual-mechanical arms through the industrial personal computer, and controlling the dual-mechanical arms to move to the target poses. The system includes an industrial personal computer module, a communication module and a display module. By means of the dual-mechanical arm synergic movement method and system, the virtual dual-mechanical arms are controlled to do synergic motion, the preferred way points avoiding problems like mechanical arm collision are recorded, the actual dual-mechanical arms are controlled to move to the target poses according to the way points, damage to theactual dual-mechanical arms can be avoided, and very good application values are achieved in the fields of robot reaching and practical training.

Description

technical field [0001] The invention belongs to the technical field of double-manipulator robots, and in particular relates to a method and system for coordinated movement of double-manipulator arms. Background technique [0002] From the birth of the world's first programmable robot in 1954 to today's robots are closely related to our production and life, and related technologies are becoming more and more mature. With the continuous improvement of people's demand for robot applications in various fields, dual-arm robots have emerged as the times require. Due to the difficulty in realizing the coordinated movement of dual robotic arms, most of the technologies are not stable and mature, and many applications of dual robotic arms are still in the laboratory stage, and there is still a long way to go before the popularization of practical applications. [0003] During the research process, if the manipulator is directly operated, the requirements for the operator are high, t...

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Problems solved by technology

[0003] During the research process, if the manipulator is directly operated, the requirements for the operator are high, the professionalism is not high, or it is difficult for novices to directly operate. In addition, there are certain dangers during the movement of the double manipulator. Directly operating the actual double manipulator may Hazard to operator safety

[0004] In addition, the dual robotic arm is different from the characteristics of the single robotic arm. If the operator directly loads unverified algorithms or waypoints to the actual dual robotic arm, the dual robotic arm is prone to collision and damage during operation, causing economic loss

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