| 基于DMP的双臂机器人装配策略研究 |
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| 引用本文： | 王智伟,苏建华,黄开启,顾启鹏,孟严. 基于DMP的双臂机器人装配策略研究[J]. 现代制造工程, 2021, 0(4): 33-40. DOI: 10.16731/j.cnki.1671-3133.2021.04.006 |
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| 作者姓名： | 王智伟 苏建华 黄开启 顾启鹏 孟严 |
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| 作者单位： | 江西理工大学电气工程及自动化学院,赣州341000;江西理工大学电气工程及自动化学院,赣州341000;中国科学院自动化研究所,北京100190;中国科学院自动化研究所,北京100190 |
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| 基金项目： | 国家自然科学基金项目(91848109);北京市面上基金项目(4182068);空间智能控制技术实验室开放基金课题项目(HTKJ2019KL502013)。 |
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| 摘 要： | 针对双臂机器人装配规划难题,提出了基于动态运动基元的双臂协调运动和装配策略.首先,分析双臂机器人运动空间,建立双臂运动约束模型,使每条手臂不仅满足自身任务要求,还满足双臂之间的相对位姿约束,然后将双臂之间的相对位姿约束与动态运动基元方法结合,使得生成的机械臂运动轨迹可以达到自避障的效果.其次,根据装配任务需求,分析双臂...
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| 关 键 词： | 双臂机器人 运动约束 动态运动基元 装配 |
Study on dual-arm robot assembly strategy using DMP |
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| WANG Zhiwei,SU Jianhua,HUANG Kaiqi,GU Qipeng,MENG Yan. Study on dual-arm robot assembly strategy using DMP[J]. Modern Manufacturing Engineering, 2021, 0(4): 33-40. DOI: 10.16731/j.cnki.1671-3133.2021.04.006 |
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| Authors: | WANG Zhiwei SU Jianhua HUANG Kaiqi GU Qipeng MENG Yan |
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| Affiliation: | (School of Electrical Engineering and Automation,Jiangxi University of Science and Technology,Ganzhou 341000,China;Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China) |
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| Abstract: | A novel assembly strategy of a dual-arm robot based on the Dynamic Movement Primitives(DMP)was proposed.The configuration space of the dual-arm robot was analyzed,and the motion constraint model of the dual-arm robot in assembly was established so that each arm can perform its desired task in assembly,and avoiding collision by the relative pose constraint between the two arms.Then the assembly strategy of the dual-arm robot according to the assembly requirements and the motion constraints was designed.Finally,the effectiveness of the proposed method was verified by simulation and real experiment. |
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| Keywords: | dual-arm robot motion constraint Dynamic Movement Primitives(DMP) assembly |
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