A Coordination Graph Dual-Arm Collaborative Control Method Based on Fusion of Human Kinematics Constraints

Abstract

The invention discloses a coordination diagram dual-arm cooperative control method based on the fusion of human kinematic constraints. The invention simultaneously performs dual-arm cooperative control from the action level and the operation task level; Collaboration trajectory, using the quaternion attitude trajectory mapping method to map human actions to the robot side and optimize storage; generate a coordination diagram according to the trajectory collision situation, the coordination diagram uses the operation time of the left and right arms as the horizontal and vertical coordinates, and the robot in the setting diagram will collide Robot configurations are black and collision-free configurations are white, forming a complete coordination map. In the coordination graph, the RRT‑Connect algorithm is combined with the trajectory optimization algorithm in the open source motion planning library for trajectory planning to complete the dual-arm cooperation at the motion level. After the collision-free cooperative pair operation is completed, the collision-prone cooperative pair cooperates according to the calculation results of the previous cooperation law to complete the cooperative operation, so that the operation time is minimized and the operation efficiency is maximized.

Description

technical field [0001] The invention belongs to the field of intelligent robots, in particular to a dual-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 its humanoid design, the humanoid dual-arm robot can imitate human actions. Compared with the traditional single-arm robot, it has a larger working range, higher movement flexibility and greater load capacity, and can perform more diverse tasks. ization 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 RethinkRobotics' Baxter robot, it is still difficult to operate both arms at the same time. Finding a collision...

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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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