Abstract
To verify the workspace flexibility and kinematics correctness of the dual-arm cooperative robot. In this paper, firstly, the D-H parameter model of 7R dual-arm is established, and the dual-arm robot workspace is analyzed by Monte Carlo method. Secondly, Lyapunov stability criterion method is used to analyze the trajectory stability criterion of the robot based on gravity model, and shows that the dual-arm can move stably under the action of gravity. Finally, the forward kinematics solution is calculated, and the trajectory interpolation method of quintic multinomial is adopted, the 7R dual-arm trajectory planning is carried out. The results show that the workspace of the dual-arm robot is larger and more flexible, the dual-arm collaboration has a wide range of coverage and no singular dead zone. Trajectory interpolation of quintic multinomial in 7R robot is smooth, the curve of position, velocity and acceleration of each joint is smooth and reasonable. The dual-arm cooperative forward kinematics trajectory planning is stable and the motion adaptability is better.
Published Version
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