A motion simulation for Dual-arm robot based on the state-space method

The research and development of dual-arm robot is a new direction of the robot industry development. Relative to the single arm robot, it not only can greatly enhance the adaptability for complex work, but also can improve the efficiency of work space [1]. In this paper, the kinematics equation of the end of the arm is deduced using the D-H method. Then the control algorithm based on the state space method is used to prevent movement interference in the process of arm movement. Finally, the displacement curve of end of arm can be got through the simulation of MATLAB using control algorithm. The effectiveness of the control algorithm can be judged.