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Method for realizing double-arm cooperative operation task based on teaching learning

A task, dual-arm technology used in manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2021-01-12
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the implementation of dual-arm collaborative operation involves issues such as trajectory obstacle avoidance and trajectory synchronization, which is quite challenging.

Method used

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  • Method for realizing double-arm cooperative operation task based on teaching learning
  • Method for realizing double-arm cooperative operation task based on teaching learning
  • Method for realizing double-arm cooperative operation task based on teaching learning

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Embodiment Construction

[0060] In order to make the above objects, features and advantages of the present invention more comprehensible, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and the embodiments of the tool. It should be pointed out that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all those skilled in the art can obtain without creative work. Other embodiments all belong to the protection scope of the present invention.

[0061] Such as figure 1 As shown, a method for realizing dual-arm cooperative operation tasks based on teaching and learning mainly includes the following steps:

[0062] Step 1: Complete the construction of the dynamic model of the dual-arm cooperative operation to realize motion control and simulation.

[0063] Step 2: Complete the construction of the hardware environment...

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Abstract

The invention discloses a method for realizing a double-arm cooperative operation task based on teaching learning, and relates to a robot teaching learning technology and an industrial robot double-arm cooperative operation technology. The method comprises the following steps that 1, a double-arm cooperative operation dynamic model is built, and motion control and simulation are realized; 2, a hardware environment of a demonstration programming system is built, the process that a person completes an operation task is recorded, and demonstration of a teaching task is completed; 3, learning andsmoothing of a teaching path are completed by utilizing a DMPs algorithm; 4, inverse kinematics resolving processing of the degree of underfreedom is carried out on an obtained teaching track of the tail end and the elbow of the mechanical arm, and a joint space target track of the movement of the two arms is obtained; and 5, a robot completes the teaching task according to the target track of thejoint space. The invention provides a simple and efficient method for teaching of an industrial robot, the use threshold of the industrial robot is reduced, and the programming efficiency is greatlyimproved.

Description

technical field [0001] The invention relates to robot teaching and learning technology and industrial robot dual-arm cooperative operation technology, in particular to a method for realizing dual-arm cooperative operation tasks based on teaching and learning. Background technique [0002] Since the birth of the first industrial robot, robot-related products have been used in many ways. Most industrial robots currently deployed on production lines are programmed through position control to follow the desired trajectory to perform the task. These robots work well with known objects within well-structured lines, enabling highly precise control of position and velocity, but are unable to cope with any unexpected changes in job operations, requiring tedious reprogramming to adapt to new job tasks. Therefore, it is extremely necessary to intelligently plan the movement of the robot. On the one hand, robots will target a larger number of non-professional people, but traditional r...

Claims

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Application Information

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IPC IPC(8): B25J9/22
CPCB25J9/0081
Inventor 许可淳李盈萱林楚昂熊蓉
Owner ZHEJIANG UNIV
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