Research on Collaboration Motion Planning Method for a Dual-Arm Robot Based on Closed-Chain Kinematics

Abstract

Aiming to address challenges in the motion coordination of dual-arm robot engineering applications, a comprehensive set of planning methods is devised. This paper takes a dual-arm system composed of two six-degrees-of-freedom industrial robots as the research object. Initially, a transformation model is established for the characteristic trajectories between the workpiece coordinate system and various other coordinate systems. Subsequently, the position and orientation curves of the working trajectory are discretized to facilitate the controller’s execution. Furthermore, an analysis is conducted of the closed-chain kinematics relationship between two arms of the robot and a pose-calibration method based on a reference coordinate system is introduced. Finally, constraints to the collaborative motion of the dual-arm robot are analyzed, leading to the establishment of a motion collaboration planning methodology. Simulations and experiments demonstrate that the proposed approach enables effective and collaborative task planning for dual-arm robots. Moreover, joint angle and angular velocity curves corresponding to the motion trajectory exhibit smoothness, reducing joint impacts.