Construction And Application Of Multi Manipulator Cooperation System

As an intelligent device,robotic manipulator is gradually changing people’s production and life style.With the more and more complex requirements of production tasks,a single manipulator is usually unable to complete the task requirements.Currently,multiple manipulators need to work together to complete.In this thesis,two six degree of freedom series manipulator are designed,and the cooperation system of the two manipulator is built by Ether CAT real-time Ethernet.Firstly,this thesis designs the structure of the manipulator.The driving motor of each joint adopts a centralized layout,which makes the center of gravity of the manipulator move down and improves the stability of the action.Through the D-H parameter method,the kinematics model is established,the forward and inverse kinematics equations are deduced,and the multiple solutions are optimized in the solution space of inverse kinematics.Secondly,the cooperative control system of double manipulator is built.The system takes the industrial computer as the master station of the control system.The slave station of the control system is based on ET1100 and arm architecture processor to complete the real-time control of each joint of the manipulator.Thirdly,this thesis studies the algorithm of multi manipulator cooperation from three aspects: single arm trajectory planning,double arm trajectory planning and joint trajectory tracking.In the single arm trajectory planning algorithm,the "joint space" and "Cartesian space" trajectory planning algorithms are analyzed.The rapid extended random tree algorithm(RRT)is improved to complete the trajectory planning of double arm collision avoidance.Lastly,PD and fuzzy PD algorithm are mainly introduced;single joint trajectory tracking experiment and double arm cooperation water pouring experiment are designed.The double arm cooperation water pouring experiment makes a summary verification of the built double arm cooperation system.