Abstract
To verify the adaptability and stability of the operation task in the complex environment of the dual-arm cooperative robot, a numerical analysis method combining MATLAB and ADAMS is presented, the spatial operation mode of dual-arm multi-DOF robot is analyzed and calculated. Firstly, building 3D simulation model in Solidworks and importing it to ADAMS, dual-arm seven rotational joints are located in the shoulder, big arm, elbow, small arms, wrists, and the end of paw. Secondly, the control method of inverse kinematics solution based on virtual dynamic model is used, the angle values of each joint are calculated according to the position of the target. Finally, experimental simulation of dual-arm cooperative clamping and moving target in ADAMS according to the calculated inverse solution. The results of simulation and analysis show that the average error of the dual-arm reaching the target position is 0.5 mm, and the success rate of dual-arm cooperative clamping and moving target is 99.6%. Compared with the traditional 6-DOF robot, the adaptability and stability of the dual-arm cooperative robot in the complex environment are verified, and the working efficiency and coordination performance of dual-arm robot are improved.
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