Research On Coordinated Control Of Dual Arm Line Heating

Line heating is the most important forming process in the current three-dimensional hull surface machining, but also the impact one of the key links of modern shipbuilding industry and the rapid development. Because the line heating has features of the complex deformation mechanism and technology is strong, in the actual production the process still rely on skilled workers depend on the experience to complete manually. Add on the training of skilled workers is difficult, and long training period, Line-heating craft is faced with the less skilled workers. Therefore, to realize the automation of Line-heating craft has become particularly urgent. Compared with the single arm, the dual arm has the advantages of wide application range, cooperation ability unique in complex tasks and changing work environment. Dual manipulator coordinated operation control is one of the current the hot research in the field of mechanical arm technology. This paper studied key issues and focuses on tracking error control of manipulator trajectory when the dual manipulator coordinated operation and arms relative error control, trajectory planning of two manipulators coordinated operation, the simulation of typical coordinated task manipulation.Firstly, research of the basic theory of dual manipulator coordinated operation. According to the DOF configuration and structure dimensions of Line-heating dual manipulator, established the kinematics model of arms system, and analyzed its kinematics. Among them, achieve dual arm collision avoidance by the method to establish constraints, when dual arm’ movement process may appear. It also analyzed the dual arm velocity Jacobian matrix.Secondly, research of trajectory planning of dual manipulator coordinated operation. Take the given joint angle as optimizing target of time shortest, with speed and acceleration in the allowable range as constraints, using double population genetic algorithm with the advantages of multiple target and global search optimization, looking to get the optimal value. And fitting the joint angle and the optimization time by B spline curve. The arms’ trajectory optimization with the combination of dual population genetic algorithm and B spline ensure the smooth trajectory of heating.Then, research of tracking error control of dual manipulator coordinated operation. analyzed the dynamic characteristics of coordination system with dual arm, established the dynamic model of dual arm, and selected the traditional method of PID to control the end position of manipulator, and verified the feasibility of the method by the simulation. In order to treat the uncertainty problem of arms system and environmental, Study on the method of fuzzy neural network control, and the fuzzy neural network controller is designed. The simulation results show that the method is helpful to eliminate the relative error between the arms, and allowing the system to achieve the ideal control effect.Finally, based on the research of coordinated control system of line heating double arm, the software part of control system of line heating dual arm is designed. The software system using hierarchical structure and module design, the main interface includes calibration, measurement, processing, drawing and diagnosis, and laid the foundation for the establishment of actual system.