Abstract
At present, the double manipulator is widely used in manufacturing industry because of its high efficiency and performance. The cooperative action scenarios of the two manipulator are more and more. However, the interference collision between the arms needs to be solved, the obstacle avoidance and the path optimization are optimized. Some cooperative tasks also require the relative position and posture of the two end tools of the manipulator, avoiding collision between two manipulator is one of the most important problems to be solved in the production and manufacturing stage of double manipulator. Traditional intelligent trajectory planning method is widely used to predict and optimize the motion trajectory of manipulator. But the differential evolution algorithm has strong convergence and robustness in theory, and also plays a better optimization performance in the collision detection of manipulator. This paper introduces the theory of differential evolution algorithm, adopts computer simulation to compensate friction force and speed feedback. According to the simulation results, a collision detection system of double manipulator is established, and corresponding measures are taken to ensure that the collision of the two manipulator is reduced during the use. This is not only of great theoretical significance to reduce collision between multi manipulator arms, but also has important practical significance in manufacturing industry
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call