Cooperative Space Analysis and Simulation of Multi Manipulator
Monte Carlo method and envelope method are used to analyze the cooperative space and singular points of multi manipulator cooperative system model. The standard D-H parameter method is used to establish the coordinate system， the kinematics model of the robot is established in Matlab， and the forwar...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-02-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.013 |
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| _version_ | 1841548830223368192 |
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| author | Chengwen Zou Ping Tao |
| author_facet | Chengwen Zou Ping Tao |
| author_sort | Chengwen Zou |
| collection | DOAJ |
| description | Monte Carlo method and envelope method are used to analyze the cooperative space and singular points of multi manipulator cooperative system model. The standard D-H parameter method is used to establish the coordinate system， the kinematics model of the robot is established in Matlab， and the forward kinematics equation of the robot is obtained. The workspace of each manipulator is obtained by Monte Carlo method， the common area points are extracted by envelope method， and the cooperation space of the multi manipulator cooperation system and the joint angle range of each manipulator in the cooperation space are obtained. An algorithm to calculate the operability is presented. According to the algorithm， the singularity distribution of multi manipulator in the cooperative space is calculated and analyzed. The Matlab/Robotics toolbox is used to build the simulation platform， and the algorithm is compiled for simulation analysis， which verifies the correctness and rationality of the kinematics model analysis of the multi robot cooperative system， the feasibility of the proposed algorithm is proved and the foundation for the subsequent coordinated operation and trajectory planning to avoid singular points is laid. |
| format | Article |
| id | doaj-art-66eb070f09e746efaff09e7014cd33d3 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-66eb070f09e746efaff09e7014cd33d32025-01-10T13:59:47ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-02-0146788430482719Cooperative Space Analysis and Simulation of Multi ManipulatorChengwen ZouPing TaoMonte Carlo method and envelope method are used to analyze the cooperative space and singular points of multi manipulator cooperative system model. The standard D-H parameter method is used to establish the coordinate system， the kinematics model of the robot is established in Matlab， and the forward kinematics equation of the robot is obtained. The workspace of each manipulator is obtained by Monte Carlo method， the common area points are extracted by envelope method， and the cooperation space of the multi manipulator cooperation system and the joint angle range of each manipulator in the cooperation space are obtained. An algorithm to calculate the operability is presented. According to the algorithm， the singularity distribution of multi manipulator in the cooperative space is calculated and analyzed. The Matlab/Robotics toolbox is used to build the simulation platform， and the algorithm is compiled for simulation analysis， which verifies the correctness and rationality of the kinematics model analysis of the multi robot cooperative system， the feasibility of the proposed algorithm is proved and the foundation for the subsequent coordinated operation and trajectory planning to avoid singular points is laid.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.013Multi manipulator cooperative systemMonte Carlo methodEnvelope methodCooperative spaceManipulabilitySingular point |
| spellingShingle | Chengwen Zou Ping Tao Cooperative Space Analysis and Simulation of Multi Manipulator Jixie chuandong Multi manipulator cooperative system Monte Carlo method Envelope method Cooperative space Manipulability Singular point |
| title | Cooperative Space Analysis and Simulation of Multi Manipulator |
| title_full | Cooperative Space Analysis and Simulation of Multi Manipulator |
| title_fullStr | Cooperative Space Analysis and Simulation of Multi Manipulator |
| title_full_unstemmed | Cooperative Space Analysis and Simulation of Multi Manipulator |
| title_short | Cooperative Space Analysis and Simulation of Multi Manipulator |
| title_sort | cooperative space analysis and simulation of multi manipulator |
| topic | Multi manipulator cooperative system Monte Carlo method Envelope method Cooperative space Manipulability Singular point |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.02.013 |
| work_keys_str_mv | AT chengwenzou cooperativespaceanalysisandsimulationofmultimanipulator AT pingtao cooperativespaceanalysisandsimulationofmultimanipulator |