基于HMS的双臂机器人运动学协调约束模型研究

Research on Kinematic Coordination Constraint Model of Dual-arm Robot Based on Harmony Search Algorithm

论文主要研究了双臂机器人的协调运动。建立双臂机器人协调运动模型,根据双臂机器人进行实际任务时的相对位置控制关系,建立一种基于两机械臂协作过程中相对运动的约束协调算法模型,通过和声搜索算法,期望能够根据所得运动最优解增进双臂协调运动过程中的平稳性,并且能够减小仿真过程中的相对误差,保证双臂机器人在进行任务的过程中双臂之间的约束关系。

The coordinated motion of dual-arm robot is studied in this paper.Dual-arm robot coordinated motion model is es-tablished.According to the relative position of dual-arm robot for actual tasks control relationship,it establishes a collaboration in the process of mechanical arm based on two constraint coordination algorithm model of relative movement,through the harmony search algorithm,it is expected that the stability of coodination of the arms can be improved according to the optimal solution.In ad-dition,it can reduce the relative error in the simulation process and ensure the constraint relationship between the arms of the two-arm robot during the task.