基于运动性能分析的双臂冗余度机器人协调运动研究

为了提高双臂冗余度机器人在其交互工作空间中的协调运动能力，以ABB YuMi为例，提出了一种计算简便并且能够有效反映双臂协调运动灵活性的性能指标。利用D-H法建立了YuMi机器人的运动学模型，分析了双臂可操作度的分布情况，分别研究了两种协调运动方式的运动学约束关系以及相应的运动控制规律，基于灵活性分析构建了双臂协调装配电机转子与轴承以及字母绘制的任务，通过仿真和实验验证了本文双臂可操作度指标的有效性及协调运动规划方法的正确性。

Research on the coordination motion of redundant dual-arm robot based on kinematics performance

The motion of a redundant dual-arm robot is subject to dual-arm coordination constraints when performing a coordination task. To improve the coordinated motion ability of redundant dual-arm robots in its interactive workspace, a kinematics performance index is proposed in this study, which can effectively reflect the flexibility of the redundant dual-arm robot ABB YuMi’s coordinated motion. First, the robot kinematic model is established using the Denavit-Hartenberg parameters and the dual-arm manipulability of a robot is analyzed. Then, the kinematics constraint relations and corresponding motion control laws of the two coordinated motion modes are studied. Finally, based on the flexibility analysis, the dual-arm coordinative assembling of motor rotor and bearing and the dual-arm alphabetic drawing tasks are constructed. Simulation and experiment are carried out to prove the validity of the dual-arm manipulability index and correctness of the coordinated motion planning method.