Research on Kinematic Coordination Constraint Model of Dual-arm Robot Based on Harmony Search Algorithm
CHEN Yu
XU Zhengwu
CHANG Xinqi
Abstract：The coordinated motion of dual-arm robot is studied in this paper.Dual-arm robot coordinated motion model is es-tablished.According to the relative position of dual-arm robot for actual tasks control relationship,it establishes a collaboration in the process of mechanical arm based on two constraint coordination algorithm model of relative movement,through the harmony search algorithm,it is expected that the stability of coodination of the arms can be improved according to the optimal solution.In ad-dition,it can reduce the relative error in the simulation process and ensure the constraint relationship between the arms of the two-arm robot during the task.
Keywords：harmony search algorithmdual-arm coordinationrobotoptimal solution
Publication Date：2023-12-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 2873-2878 )