Intelligent multi-robot control system based on wireless communication

Abstract

The invention discloses an intelligent multi-robot control system based on wireless communication, comprising a central control system, an industrial robot workstation system, and a mobile robot conveying system. The central control system includes an industrial PC and an industrial robot control system. The industrial robot control system includes a PLC processor module which is connected with the industrial PC via EtherCAT. The industrial robot workstation system includes industrial robots which are 6-DOF serial robots. The industrial robot control system includes an embedded motion controller, a servo driver, a sensor and a control switch. The embedded motion controller is connected with the industrial PC via EtherCAT, and is connected with the servo driver, the sensor and the control switch via digital input and output interfaces. The mobile robot conveying system includes an onboard computer, an embedded ARM controller, a motor driver, an encoder, an inertial measurement unit, a laser radar, and a wireless WIFI communication module. The system has the advantages of high development efficiency and easy implementation of the algorithm.

Description

technical field [0001] The invention belongs to the field of automation, and specifically relates to an intelligent multi-robot control system based on a robot operating system ROS and wireless communication, and is mainly used in the field of fully automated production lines for processing and assembling mechanical parts. Background technique [0002] At present, industrial robot technology has become mature and has been applied to various industrial automation production lines. However, industrial robots still adopt the teaching and reproduction working mode, and the programming task for a new processing product is extremely heavy. In the context of the continuous improvement of the flexible manufacturing capability of the production line, higher requirements are also put forward for the efficiency and portability of industrial robot software development. At the same time, with the continuous advancement of Internet of Things technology and the proposal of Industry 4.0 Sma...

AI Technical Summary

Problems solved by technology

[0003] The multi-robot control system based on wireless communication needs to solve the kinematics and trajectory planning of industrial robots, the kinematics and path planning and positioning and navigation calculation of mobile robots, as well as the communication and collaborative operation scheduling between robots. For the control system hardware There are high requirements for the implementation of control algorithms and control algorithms, and the existing technology still has deficiencies in the real-time collaborative operation of industrial robots and mobile robots

Images