Solving the Collaborative Problem in the Process of Dual-Arm Robot Assembly Based on Fully Constrained Synchronous Collaboration Mode

In this paper, a fully constrained collaboration synchronization model is proposed to solve the cooperative problem in the dual-arm assembly process. Compared with the single-arm robot, the dual-arm robot has higher flexibility and larger working space, but it is more difficult to control. It has its inherent constraint relationship during movement. The dual-arm cooperation constraint is the basis of the dual-arm motion planning. The paper first analyzes the constraint relationship between the two arms when the rigid body is transported by the two arms and the assembly of the shaft hole respectively. The study finds that there are many common points between the two movements: during the movement process, the two manipulators always maintain a constraint relationship with the object. On this basis, the full constraint is proposed to solve the position and pose constraints of the tool hands when the arms are moved. Finally, the simulation experiment of dual-arm handling rigid body and shaft-hole assembly is carried out to verify that the proposed dual-arm cooperation mode can effectively realize the dual-arm cooperative motion.