Research on dual-arm collaborative motion control of LNG loading station inspection robot

With the promotion and application of LNG loading skid automatic control technology and information management technology, LNG loading stations are gradually developing towards unmanned stations. In the unmanned stations, in addition to automation equipment, inspection robots used for station inspection and maintenance are also essential. This article focuses on the research of dual arm inspection robots for unmanned stations, and conducts research on the coordinated motion control of dual arms for inspection robots in loading stations. Firstly, perform D-H parameter kinematic modeling on the designed robot; Secondly, design kinematic solving algorithms and dual arm collaborative motion algorithms based on the D-H model; Finally, a simulation platform is built in the ROS robot system for gripping simulation testing to verify the feasibility of the algorithm.