Motion Planning and Compliance Control Method for Direct Drive Vacuum Manipulator

In robotics, robot forward and inverse kinematics and dynamics are the foundation of robot research. Aiming at the special working environment and wafer falling off of mag8 vacuum manipulator produced by Shenyang SIASUN Robot Automation Co., Ltd., this paper completes the research on motion planning and compliance control of the manipulator. Firstly, its mechanical structure and motion mode are briefly introduced, which can realize the lifting, rotation and telescopic actions of both arms. Secondly, the robot kinematics model is established by MDH method, and the robot dynamics model is established by Lagrange method. Finally, experiments are carried out through MATLAB robot toolbox to verify the correctness of forward and inverse kinematics and dynamic model. The experimental results show that the dual arm model established in this paper effectively simulates the actual working state, which lays a foundation for further physical platform operation.