Dual Robotic Arm Intelligent Sorting System

In the background of the rapid development of industrial automation,the sorting technology of the manipulator is gradually applied in industrial operation.Aiming at the low efficiency of single arm sorting system in sorting task,this paper proposes and designs a double manipulator intelligent sorting system.The research contents are as follows:Firstly,the kinematics analysis of the two arms which constitute the sorting system of double manipulator is carried out by D-H parameter method,and the reverse solution process is deduced.Then the model of the double manipulator system is established.Then,aiming at the calibration problem of the double manipulator,the method of establishing the tie coordinate system by three-point method is proposed to complete the calibration task.In the process of continuous sorting,in order to avoid the collision of two manipulators,this paper plans the sequence of continuous sorting.Firstly,a Hough circle detection method based on edge detection is proposed to obtain the coordinates of the workpiece;Then a similarity matching method based on log polar transformation is proposed to identify the type of workpiece and confirm the color of workpiece;Finally,all the workpieces are divided into two areas according to the coordinates,and then the sorting order of the workpieces is planned based on the genetic algorithm,and the double manipulator sorts all the workpieces according to the planned sorting order.Aiming at the problem of self obstacle avoidance of two manipulators,a constraint method based on position layer and velocity layer is proposed to constrain the position and velocity of the two manipulators,so that the distance between the ends of the two manipulators is greater than the safe distance;Then the joint space method is used to plan the trajectory of the manipulator;Finally,the feasibility of the control method is verified by the simulation of the double manipulator sorting system in MATLAB.Finally,the experimental platform of the sorting system of double manipulator is built.The error experiment is done on the accuracy of the end moving position of the two manipulator when sorting task is carried out.Finally,the performance experiment of sorting of multiple workpieces is carried out based on the experimental platform.