Abstract
Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.
Highlights
The research on the workspace problem of multi-robot collaborative work is one of the difficult problems in the research of multi-robot system [1]
Collaborative space is a common area that can be achieved by multiple robots
The kinematic positive solution is to determine the position of the end pose based on the value of the known joint variable
Summary
The research on the workspace problem of multi-robot collaborative work is one of the difficult problems in the research of multi-robot system [1]. Collaborative space is a common area that can be achieved by multiple robots (represented by dual robots). It is an important kinematic indicator for measuring the working ability of dual robots [2]. Monte Carlo is a numerical method for solving mathematical problems by means of random sampling. This method is easy to implement computer graphics display function, and the calculation speed is fast and the error and dimension are irrelevant [6]. The collaborative workspace of the dual robot collaborative operation system is analyzed [7]
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