The solution of the volume of collaborative space of 6R two-arm robot based on the body-elemental algorithm

Abstract

TO the problem of solving the collaborative space of a two-arm robot accurately, this paper takes the 6R two-arm robot as the research object, proposing a solution combining Monte Carlo method and body-elemental algorithm. Firstly, according to the D-H parameters of the 6R two-arm robot, we build an analytical model of the 6R two-arm robot using the Matlab toolbox. Then, we use the Monte Carlo method to quantify the respective working spaces of both arms based on this model. Finally, we calculate the volume of the cooperative space through the body-elemental algorithm, that is, finding the boundary elements and non-boundary elements of the collaboration space constantly and improving the accuracy of the volume through the continuous refinement of the boundary body elements.The results show that, when the number of sample points reaches 200,000, the solution time after refining 3 times is only about 15s, which is efficient. At the same time, the volume variance derives from 10 sets of random numbers is about 9e-10, which is quite precise.The volume of collaborative space through this algorithm lays a theoretical foundation for the subsequent optimization of the structure of the two-arm robot.