During the assembly of mechanical systems, the dual-arm robot is always used for cabin docking. In order to ensure the accuracy and reliability of cabin docking, a multi-objective trajectory planning method for the dual-arm robot was proposed. A kinematic model of the dual-arm robot was constructed based on the Denavit–Hartenberg (D-H) method firstly. Then, in the Cartesian space, the end trajectory of the dual-arm robot was confirmed by the fifth-order B-spline curve. On the basis of a traditional multi-objective cuckoo search algorithm, a modified cuckoo algorithm was built using the improved initial population generation method and the step size. The total consumption time and joint impact were selected as the objective functions, the overall optimal solution for the modified cuckoo algorithm was obtained using the normalized evaluation method. The optimal trajectory planning was achieved. Finally, the feasibility and effectiveness of the trajectory planning method were verified with the experiments.

Aiming at the disadvantages of traditional manual docking, such as low assembly efficiency and large positioning error, a six-DOF dual-arm robot system for module docking is designed. Firstly, according to the operation tasks of the cabin docking robot, its functional requirements and key indicators are determined, the overall scheme of the robot is designed, and the composition and working principle of the robot joints are introduced in detail. Secondly, a strength analysis of the core components of the docking robot is carried out by finite element analysis software to ensure its load capacity. Based on the kinematics model of the robot, the working space of the robot mechanism is simulated and analyzed. Finally, the experimental platform of the docking robot is built, and the working space, repeated positioning accuracy, and motion control accuracy of the docking robot mechanism are verified through experiments, which meet the design requirements.

A new track tracking control method based on Lagrange dynamic equation is proposed. Firstly, the kinetic energy equation and potential energy equation of the left and right robotic arms are derived and calculated based on Lagrange function and the robot dynamics equation in the generalized coordinate system. The friction model of the left and right robotic arms is designed based on the Stribeck model, and the Lagrangian dynamic equation of the dual-arm mechanism for the hatch docking is established. Secondly, based on the Lagrange dynamic model, the collaborative control system of the docking mechanism is designed, and the backstepping sliding mode controller is designed and analyzed. A fuzzy backstepping sliding mode controller is designed to control the gain matrix β of the backstepping sliding mode controller by adjusting the output of the system with fuzzy logic, which further improves the robustness of the control system. Finally, the effectiveness of the design, dynamic modeling and control algorithm design of the cabin docking mechanism is verified by software simulation and real experiment. The experimental results show that the control method can realize the accurate tracking and control of the motion trajectory and velocity trajectory of the dual-arm mechanism, and has good robustness. The maximum absolute error and standard deviation of the axis Angle of the mobile cabin after docking are 0.501° and 0.004°, which can meet the requirements of the actual production process.