Analysis and Simulation of Workspace of Dual-arm Robot
Taking the dual-arm robot as the research object and its workspace is analyzed. Firstly,the D-H method is used to establish the linkage coordinate system of the dual-arm robot and the forward kinematics equation is solved. Then,the 3 D workspace is solved based on the Monte Carlo method,which be str...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2018-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.029 |
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| _version_ | 1841547386484162560 |
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| author | Xie Shengliang Liu Zuoshi |
| author_facet | Xie Shengliang Liu Zuoshi |
| author_sort | Xie Shengliang |
| collection | DOAJ |
| description | Taking the dual-arm robot as the research object and its workspace is analyzed. Firstly,the D-H method is used to establish the linkage coordinate system of the dual-arm robot and the forward kinematics equation is solved. Then,the 3 D workspace is solved based on the Monte Carlo method,which be stratified along the Z-axis direction. Thirdly,the method of partitioning by angle and the extreme value theory are used to extract the boundary points of the workspace. Finally,the least square method is applied to fit the boundary points. The results from the MATLAB simulation show that the extraction effect of boundary points is better,the error of fitting curve is smaller and the cooperation space of the dual-arm robot is larger,which provides a reference value for the dynamics analysis,trajectory planning and motion control of the dual-arm robot. |
| format | Article |
| id | doaj-art-0f1d1d9de31046658a77b71c4f7d771e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2018-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0f1d1d9de31046658a77b71c4f7d771e2025-01-10T14:41:58ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392018-01-014213914329937179Analysis and Simulation of Workspace of Dual-arm RobotXie ShengliangLiu ZuoshiTaking the dual-arm robot as the research object and its workspace is analyzed. Firstly,the D-H method is used to establish the linkage coordinate system of the dual-arm robot and the forward kinematics equation is solved. Then,the 3 D workspace is solved based on the Monte Carlo method,which be stratified along the Z-axis direction. Thirdly,the method of partitioning by angle and the extreme value theory are used to extract the boundary points of the workspace. Finally,the least square method is applied to fit the boundary points. The results from the MATLAB simulation show that the extraction effect of boundary points is better,the error of fitting curve is smaller and the cooperation space of the dual-arm robot is larger,which provides a reference value for the dynamics analysis,trajectory planning and motion control of the dual-arm robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.029Dual-arm robotWorkspaceMonte Carlo methodBoundary extractionCurve fitting |
| spellingShingle | Xie Shengliang Liu Zuoshi Analysis and Simulation of Workspace of Dual-arm Robot Jixie chuandong Dual-arm robot Workspace Monte Carlo method Boundary extraction Curve fitting |
| title | Analysis and Simulation of Workspace of Dual-arm Robot |
| title_full | Analysis and Simulation of Workspace of Dual-arm Robot |
| title_fullStr | Analysis and Simulation of Workspace of Dual-arm Robot |
| title_full_unstemmed | Analysis and Simulation of Workspace of Dual-arm Robot |
| title_short | Analysis and Simulation of Workspace of Dual-arm Robot |
| title_sort | analysis and simulation of workspace of dual arm robot |
| topic | Dual-arm robot Workspace Monte Carlo method Boundary extraction Curve fitting |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2018.06.029 |
| work_keys_str_mv | AT xieshengliang analysisandsimulationofworkspaceofdualarmrobot AT liuzuoshi analysisandsimulationofworkspaceofdualarmrobot |