七自由度双臂协作机器人操作稳定性分析

为了验证七自由度双臂协作机器人在复杂环境下的操作适应性和稳定性，以及提高机器人工作效率和协调性能，提出一种结合MATLAB和ADAMS的数值分析方法，对七自由度双臂协作机器人的空间运作模式进行分析和计算。首先，在Solidworks中建立七自由度双臂协作机器人的三维模型；然后，运用结合MATLAB和ADAMS的数值分析方法计算七自由度机械臂的运动学逆解；最后，运用基于虚拟动力学模型的控制方法，仿真七自由度双臂协作机器人在复杂环境下的夹取与搬运作业，以验证运动学逆解和分析双臂作业的适应性和稳定性。由仿真结果得到：双臂到达目标位置的X向误差为0.6 mm，Y向误差为0.5 mm，Z向误差为0.9 mm；到达预设位置的平均误差为0.5 mm；双臂协同抓取目标物成功率可达99.1%。由此可见，七自由度机械臂的运动学逆解满足预期要求，七自由度双臂协作机器人在复杂环境下的操作适应性和稳定性有所增强。

Stability analysis of 7-DOF dual-arm cooperative robot operation

To verify the adaptability and stability of the 7-DOF (7 degree-of-free) dual-arm cooperative robot operation in the complex environment, and to improve the working efficiency and coordination performance, a numerical analysis method combining MATLAB and ADAMS was proposed to analyze and calculate the space operation mode of 7-DOF dual-arm cooperative robot. Firstly, the three-dimensional model of 7-DOF dual-arm cooperative robot was established in Solidworks. Secondly, the kinematics inverse solution of 7-DOF manipulator was calculated by using the numerical analysis method combining MATLAB and ADAMS. Finally, the control method based on virtual dynamics model was used to simulate the 7-DOF dual-arm cooperative robot clamping and moving operation in complex environment, the kinematics inverse solution was verified, and the adaptability and stability of the 7-DOF dual-arm cooperative robot were analyzed. The simulation results showed that the X-direction error, Y-direction error, and Z-direction error of the dual-arm reaching the target position were 0.6, 0.5 and 0.9 mm, respectively. In addition, the average error of the dual-arm reaching the goal position was 0.5 mm, and the success rate of dual-arm co-grasping target was 99.1%. It is suggested that the kinematics inverse solution of 7-DOF manipulator can satisfy the expectation, and the adaptability and stability of the 7-DOF dual-arm cooperative robot operation in the complex environment have increased.