The invention relates to the technical field of coordinated
motion planning and control of double-arm robots, in particular to a large-model double-arm
robot collaborative
planning method for
underwater equipment repair. According to the method, a double-arm
kinematics model based on a relative Jacobian matrix is constructed, data are collected by combining vision,
sonar and force sense multi-mode sensors, a
tail end
pose error and integral information are introduced to construct an anti-
noise motion planning scheme, a
noise compensation strategy is designed, an optimal solution is solved through numerical difference, and the
noise compensation precision is improved. And meanwhile, a
large model is combined to recognize voice or image signals to realize intelligent action arrangement. According to the method, the problems of low precision and poor adaptability caused by difficulty in adapting to
underwater dynamic interference, insufficient
noise immunity and lack of
large model fusion in the existing scheme are solved, the precision and
noise immunity of double-arm cooperation are improved, the
intelligent decision-making capability is enhanced, the method is effectively adapted to high-pressure, high-
corrosion and other complex
underwater environments, and the high-precision and high-reliability requirements of equipment repair are met.