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Track teaching and planning method of master-slave mode multi-robot cooperative system

A multi-robot, master robot technology, applied in the field of industrial robots and flexible manufacturing systems

Inactive Publication Date: 2012-09-12
SOUTHEAST UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to propose a master-slave multi-robot collaborative system trajectory teaching and planning method for the multi-robot collaborative production system in the field of flexible manufacturing. Teaching and Planning Issues

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  • Track teaching and planning method of master-slave mode multi-robot cooperative system
  • Track teaching and planning method of master-slave mode multi-robot cooperative system
  • Track teaching and planning method of master-slave mode multi-robot cooperative system

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0061] The hardware basis of the present invention is attached figure 1 As shown, a master robot 1 and a slave robot 2, in the figure is the base coordinate system of the main robot, is the tool hand coordinate system of the main robot, is from the base coordinate system of the robot, is from the robot tool hand coordinate system, The homogeneous transformation matrix from the main robot tool hand coordinate system to the main robot base coordinate system, is the homogeneous transformation matrix from the robot tool hand coordinate system to the robot base coordinate system, is the homogeneous transformation matrix from the robot base coordinate system to the main robot base coordinate system. There can be multiple slave robots during use, and only one slave robot is used for illustration here. When there are multiple slave robots, a sim...

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Abstract

The invention discloses a track teaching and planning method of a master-slave mode multi-robot cooperative system. The method comprises the steps of: classifying the cooperative movement of the multi-robot system into a coupling movement and a superposition movement according to the relative movement modes between the tail end poses of the cooperative robots, and deducing the constraint relation between the tail end poses of the robots according to the two relative movement modes; and determining the track teaching steps and teaching information of the multi-robot cooperation according to the constraint relation, and converting the cooperative movement tack planning problem of the multi-robot cooperative system into Cartesian space track planning problem of a plurality of single robots so as to finish the track teaching and planning task of the multi-robot cooperative system. The track teaching and planning method disclosed by the invention can be applied in multiple service processes meeting the movement constrain, for example, partial cooperative movement in complex assembly task, carrying of large-size workpiece and non-fixture welding process, and the like, so that the track teaching and planning method has an extensive application prospect.

Description

technical field [0001] The invention belongs to the technical fields of flexible manufacturing systems and industrial robots, and in particular relates to a trajectory teaching and planning method for a master-slave multi-robot collaboration system. Background technique [0002] Traditional industrial robots do not have the function of collaboration, and it is usually difficult to complete many complex assembly tasks or the handling of large workpieces. The multi-robot collaborative system is a combination of multiple single-robot systems in terms of control logic, and is an extension of the traditional single-robot control system in terms of function and structure. Cooperating with each other on the motion track and motion time between the robots can improve the operation ability of the whole robot system. The emergence of multi-robot collaborative systems provides the possibility to solve complex tasks, and will play an important role in the design and implementation of f...

Claims

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Application Information

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IPC IPC(8): G05B19/19
Inventor 甘亚辉戴先中陆志远
Owner SOUTHEAST UNIV
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