Optimization Control of Cooperative Trajectory towards Dual Arms Based on Time-Varying Constrained Output State

Abstract

Aiming at the impact and disturbance of dual-arm robots in the process of coordinated transportation, a dual-arm cooperative trajectory optimization control based on time-varying constrained output state is proposed. According to the constraint relationship of the end-effector trajectory of the dual-arm coordinated transportation, the joint space trajectory mathematical model of the dual-arm coordinated transportation was established by using the master-slave construction method. Based on the time impact optimization index of joint trajectory, a multiobjective nonlinear equation is established. Using random probability distribution to extract the interpolation features of nonuniform quintic B-spline trajectory, the feature optimization target is selected, and the Newton numerical algorithm is used for iterative optimization. At the same time, it is combined with an elite retention genetic algorithm to further optimize the target. Based on the disturbance and tracking problem, a PD control method based on time-varying constrained output state is proposed, and the control law is designed. Its convergence is verified by establishing the Lyapunov function equation and asymmetric term. The trajectory optimization results show that the proposed trajectory optimization method can increase the individual diversity and enhance the individual local optimization, thus avoiding the premature impact of the elite retention genetic algorithm. Finally, the proposed control method is simulated on the platform of Gazebo; compared with the traditional PD control method, the results show that the proposed control algorithm has high robustness, and the rationality of the coordinated trajectory control method is verified by the double-arm handling experiment.

Trajectory Planning Application of Rehabilitation Robots Based on Improved CSA Algorithm

“…Experts have proposed many unique insights and algorithms for the application research of robot joint trajectory optimization. Zhang et al [3] proposed a collaborative trajectory optimization control method. Based on the constraint relationship of the collaborative transportation trajectory, a primary-secondary construction method is adopted to establish a mathematical model of joint space trajectory for dual arm collaborative transportation.…”

“…The D-H parameter can transform the motion mechanism of robot joints into a coordinate system. Adjacent members between joints are shown in Equation (3).…”

Energy-Efficient Robot Configuration and Motion Planning Using Genetic Algorithm and Particle Swarm Optimization

“…In comparison to the single-arm manipulator, dualarm operations increase collaboration between both arms. Environmental adaptation and coordinated control between dual-arm manipulators are critical and need more complex path planning [7]. As a result, researchers have focused their efforts on trajectory optimization and dual-arm coordination, which requires both coordinated trajectory planning and coordinated motion control at the same time.…”