Doublel-robot coordination workspace Analysis based on Matlab
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.
Wei Wang Yong Xu
School of Mechanical and Automotive Engineering,Shanghai University of Engineering and Technology,Shanghai,201620
国际会议
上海
英文
1-4
2018-10-12（万方平台首次上网日期，不代表论文的发表时间）