基于DMP的双臂机器人装配策略研究

Study on dual-arm robot assembly strategy using DMP

针对双臂机器人装配规划难题,提出了基于动态运动基元的双臂协调运动和装配策略。首先,分析双臂机器人运动空间,建立双臂运动约束模型,使每条手臂不仅满足自身任务要求,还满足双臂之间的相对位姿约束,然后将双臂之间的相对位姿约束与动态运动基元方法结合,使得生成的机械臂运动轨迹可以达到自避障的效果。其次,根据装配任务需求,分析双臂运动约束,设计双臂装配策略。最后,通过仿真和实验,验证了所提出方法的有效性。

A novel assembly strategy of a dual-arm robot based on the Dynamic Movement Primitives(DMP)was proposed.The configuration space of the dual-arm robot was analyzed,and the motion constraint model of the dual-arm robot in assembly was established so that each arm can perform its desired task in assembly,and avoiding collision by the relative pose constraint between the two arms.Then the assembly strategy of the dual-arm robot according to the assembly requirements and the motion constraints was designed.Finally,the effectiveness of the proposed method was verified by simulation and real experiment.