Motion Control System and Collision Detection for Dual-Arm Robot

• Main Authors: Jia-Siang Lyu, 呂嘉翔
• Other Authors: Ching-Chang Wong
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/37388w

碩士 === 淡江大學 === 電機工程學系機器人工程碩士班 === 106 === In this thesis, a dual-arm robot based on two 7-DOF redundant robot manipulators motion control system is implemented, and a dual-arm robot collision detection method is proposed to enhance the security of motion control. It contains three main parts: (1) kinematics of dual-arm robot, (2) motion control of dual-arm robot, and (3) collision detection. In kinematics of dual-arm robot, redundancy of 7-DOF robot manipulator is defined to solve the problem of infinite solution in the inverse kinematics solution process in this thesis. Then, with a coordinate space transformation method proposed in this thesis, the command of left and right arms of dual-arm robot can solve by kinematics of 7-DOF robot manipulator. In motion control of dual-arm robot, this thesis proposed a method to synchronize joints of robot manipulator, so that trajectory of the end of robot manipulator can be more stable when the dual-arm robot is operated. In collision detection, this thesis first defined the links of robot manipulator as lines segment, so that collision detection of the links is regarded as distance detection of each line segment. After that, line segment equation of each link is obtained by calculating the position of each joint with forward kinematics, combined the information of velocity and displacement, and it would obtain links movement situation, then the relationship between links in the space can be analyzed to detect the robot manipulators whether collide with each other or not. In the experiment results, this thesis uses simulation to verify the proposed kinematics and motion control method can make the dual-arm robot have a good control effect, and the proposed collision detection algorithm can indeed make the dual-arm robot achieve collision-free.