Coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints

Abstract

The invention discloses a coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints. Double-arm cooperative control is carried out from an action level and an operation task level at the same time; in the action cooperation level, a robot cooperation track is obtained through a teleoperation teaching technology, and human actions are mapped to arobot end through a quaternion attitude trajectory mapping method and are optimally stored; a coordination graph is generated according to the trajectory collision situation, the coordination graph takes the operation time of the left arm and the right arm as the horizontal and vertical coordinates, the robots colliding with each other in the graph are set to be black, the robots without collisionare set to be white, and a complete coordination graph is formed; trajectory planning in the coordination graph is carried out by adopting a mode of combining an RRT-Connect algorithm with a trajectory optimization algorithm in an open source action planning library to complete double-arm cooperation of the action level; and after the collision-free cooperation pair operation is completed, the collision cooperation pair cooperates according to the previous cooperation law calculation result to complete the cooperation operation, so that the operation time is shortest, and the operation efficiency is maximized.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a double-arm cooperative control method of a humanoid robot. Background technique [0002] With the continuous development of science and technology, robots are applied to all walks of life, and the tasks they undertake are becoming more and more complex. So a current trend in robotics is towards dual-arm robots with anthropomorphic kinematics. Due to the humanoid design, the humanoid double-arm robot can imitate human actions. Compared with the traditional single-arm robot, it has a larger operating range, higher motion flexibility and greater load capacity, and can perform more diverse tasks. transformation task. [0003] Although there are many mature manipulator control algorithms and many industrial dual-arm robots, such as Abb's YUMI robot, Willow Garage's PR2 robot and Rethink Robotics' Baxter robot, it is still difficult to operate both arms at the same tim...

AI Technical Summary

Problems solved by technology

However, both of these two collaboration methods have disadvantages such as low operating efficiency, large amount of system calculations, and non-human-like operation actions.

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