Research And Application Of Cooperative Control Of Dual Manipulator Based On Hybrid Bus

In this paper,the research object is the double mechanical arm device for steering wheel leather sleeve sewing,and the main research content is the cooperative work of the two mechanical arms.After the design of the control system and the hybrid bus structure,a hardware platform was built to support the motion control of the sewing device of the double manipulator arm,and the trajectory planning technology was applied in it,in order to achieve better results.Finally,in the PLC programming environment,the realization program of motion control and the communication program between the upper and lower machines are designed.Specific research contents are as follows:In order to meet the requirements of steering wheel sewing,according to its sewing characteristics,this paper designed a double mechanical arm sewing system,and selected the appropriate hardware equipment.According to the equipment selection,the control means for device communication through CAN bus and Ether CAT bus is determined.Under the control requirement of high baud rate and stability,star CAN bus structure and Ether CAT bus structure in cascade form are selected.Combined with the configuration function of PLC motion controller,a hybrid bus structure of CAN and Ether CAT is formed.The controller is connected with each functional device through the hybrid bus,which constitutes the hardware platform.In this paper,by using the robot toolbox in Matlab,the pose expression,coordinate transformation and D-H coordinate parameter method are effectively applied to the kinematic modeling of the double manipulator,so as to realize the analysis of the forward and inverse kinematics.In addition,in order to better reflect the motion parameters of the double manipulator,the modeling method is improved according to the actual situation of the double manipulator structure.For the determination of the relative position relationship between the two robotic arms on the platform,this paper introduces and uses a "handshake" calibration method to calibrate and verify the two robotic arms in this paper.Finally,Monte Carlo method was used for calculation and simulation analysis to determine the actual working space of the two robotic arms,so as to evaluate the feasibility of their collaborative work.In order to meet the requirement of space cooperative task of two manipulator ends in positioning motion,this paper studies the interpolation method of linear and circular arc trajectories and space attitude of the manipulator in Cartesian space,so as to realize the effective planning of position and attitude targets in space.The results of trajectory and attitude planning methods in Cartesian space simulated by Matlab show that the combination of the two kinds of planning can smooth the movement of each axis and realize stable positioning work,so as to better complete the position coordination task in Cartesian space.In order to realize the motion control of double manipulator on the hardware platform,this paper designs the motion control interface program under the PLC programming environment.The communication protocol between the upper and lower computer is formulated,and according to the protocol design,the communication program with the controller as the client is written.Finally,the working mode of the cooperative movement of both arms is analyzed,and the process of the cooperative movement is designed.The real machine test is carried out,and the test results show that the injection effect of the common point and the singular point achieves the expected goal.