3-D Dynamic Simulation and Experiment for Shaft and Hole Mating of Redundant Dual-arm Robot

The kinematic constraint relations for shaft and hole mating of redundant dualarm robot are analyzed and a hierarchical control structure is designed.By means of 3-D dynamic graphic simulation,the shaft and hole mating experiment is performed on the cooperative control experiment platform of redundant dual-arm robot.Simulation and experiment results show that this method can make the redundant dual-arm robot complete shaft and hole mating smoothly.