基于Baxter冗余双臂机器人的轴孔装配轨迹规划研究  

Research on trajectory planning strategy of shaft hole assemblybased on Baxter redundant dual-arm robot

作　　者：徐建明[1] 杨冰冰 XU Jianming;YANG Bingbing(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2022年第6期599-608,共10页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213);浙江工业大学教学改革项目(JG201918)的资助。

摘　　要：针对Baxter冗余双臂机器人轴孔装配操作任务,研究了一种孔外、孔内两阶段轴孔装配轨迹规划策略。首先,根据机器人装配过程中由右臂末端受力反映出的轴和孔接触状态,考虑双臂末端受力均衡,提出了一种操作空间轴孔装配的双臂运动轨迹规划方法;然后,结合关节限制和最小关节力矩的优化函数,基于投影梯度法和Newton-Raphson迭代方法,研究了基于Baxter冗余双臂机器人的逆运动学优化求解算法;最后,通过Baxter双臂机器人轴孔装配实验进行对比分析。实验结果表明轴孔装配轨迹规划及逆运动学解算方法的有效性。Aiming at the shaft hole assembly operation task of Baxter redundant dual-arm robot,a two-stage shaft hole assembly planning trajectory strategy outside and inside the hole is studied.First,according to the shaft and hole contact state reflected by the force on the end of the right arm during the assembly process of the robot,and considering the balance of the forces on the ends of the two arms,a dual-arm motion trajectory planning method for the assembly of the shaft and hole in the operating space is given;combining the optimization function of joint constraint and minimum joint torque,based on the projection gradient method and Newton-Raphson iterative method,an inverse kinematics optimization algorithm based on the Baxter redundant dual-arm robot is studied;finally through the shaft hole assembly experiment of Baxter dual-arm robot,the results are analyzed and compared.The experimental results show of that the shaft hole assembly trajectory planning and inverse kinematics solution method are effective.

关 键 词：冗余机器人 优化函数 轴孔装配 双臂机器人 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]