关键词: 双臂协作机器人, 智能控制, 五次B样条曲线插值, D-H法, 运动学模型

Abstract: In order to improve the control accuracy of the dual arm cooperative robot, taking the dual arm cooperative automobile wheel hub grinding robot as the research object, on the premise of using the D-H method to analyze the kinematics and solve the forward and inverse kinematics of the dual arm cooperative robot, the fifth order B-spline interpolation method was used to plan the trajectory of the robot cooperation in the Cartesian space. The simulation results show that the control scheme can realize the intelligent control of the dual arm cooperative robot, and the robot joints do not collide and interfere with each other in the whole control process. Compared with the trajectory optimization algorithm of quintic polynomial interpolation and seventh order B-spline interpolation, the path planning of the quintic B-spline interpolation algorithm has been effectively improved on the curve of speed, angular acceleration and acceleration planning, in which the maximum acceleration is reduced by 0.78%, which shows that the inertia force of the polishing robot arm can be reduced and the impact of inertia can be reduced through the quintic B-spline interpolation algorithm, It has certain engineering application value.

Key words: dual arm cooperative robot, intelligent control, quintic B-spline curve interpolation, D-H method, kinematic model